"We didn't leave the negotiation table", Zarif told reporters July 11.
The step was taken on Tuesday, amid growing tensions in the region.
Martin said the British Heritage was intercepted by Iranian "fast boats", small vessels used frequently by the Revolutionary Guard to harass commercial ships in the Persian Gulf and the Strait of Hormuz.
CNN, citing two U.S. officials, reported late on Wednesday that the Iranians ordered the British Heritage oil tanker crossing the strait to change course and stop in Iranian territorial waters nearby.
HMS Montrose, a British frigate of the Type 23 class positioned itself between the tanker and the intercepting craft, and forced the Iranians to withdraw.
He described the Iranians' actions as "contrary to worldwide law". Montrose is equipped on the deck with 30 mm guns specifically created to drive off small boats.
According to CNN, the HMS Montrose successfully warned the Iranian boats to back off. Tehran said the spy craft had violated its airspace, while the US maintained it was in worldwide waters close to Iran. The Chairman of the Joint Chiefs of Staff General Joseph Dunford said the U.S. is in contact with "a number of countries" to see which ones "have the political will" to support the initiative.
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Navy Capt. Bill Urban, spokesman for U.S. Central Command, said the military was aware of the incident.
Iran's Revolution Guards denied the United Kingdom account Thursday, according to Iran's Tasnim news agency.
The report said BP fears the ship could become a target of Iranian forces seeking to retaliate for the seizing by British Royal Marines of the Grace 1 last week off the coast of Gibraltar.
Earlier, Iran's Foreign Minister Mohammad Javad Zarif dismissed as "worthless" the allegation that Tehran sought to block the ship.
Why are UK-Iran tensions escalating?The British Royal Marines seized the vessel there last week amid suspicions that it was trying to deliver crude oil to Syria, an ally of Iran. Iran has demanded that the vessel be returned, arguing that it is not subject to European Union sanctions on exporting oil to the Syrian government.
Tensions have increased between Iran and the United Kingdom after an Iranian oil tanker was seized by the United Kingdom off the coast of Gibraltar last week.
"You are an initiator of insecurity and you will understand its consequences", Rohani warned the British government in remarks carried by state television, calling for the "full security" of global shipping lanes.
Supreme Leader of Iran, Ayatollah Ali Khamenei making a speech in Iran, on 5 June, 2019. "While we are not commenting on these events, we thank the Royal Navy for their support".
This is enough to provide reassurance, but probably not to deal with a crisis, BBC defence correspondent Jonathan Beale said.