The six officers were asked to leave the coffee shop July 4 after a barista approached them and said a customer "did not feel safe" because of the large police presence.
On Monday, the officers association released statement saying the meeting between the officers, police chief and Starbucks "went very well."
"Starbucks again sincerely apologized for its role in the incident," the statement read. "In turn, the officers involved were given the opportunity to express their concerns over what happened. They came away from the meeting feeling heard and respected."
The association added that they hope the incident "reaffirms the important and strong connection between our officers and our community. "
" While this situation may have started stepping into a negativity, we remain determined to turn it into a positive moment for one and all, "their statement read.
Tempe Police Chief Sylvia Moir tweeted about the meeting Monday, saying "we had a few days with the @Starbucks team & we are doubling down on our commitment to join together in service of all people!"
The tweet contained a statement from the police department that said the dialogue in the meeting was "meaningful and positive."
"Both organizations and the individuals involved in the meetings remain committed to serving and safeguarding communities while embracing ng inclusiveness, dignity and respect, "the statement read.
On Twitter, Starbucks CEO Kevin Johnson thanked Moir, the police department and the officers association for the" ongoing constructive dialogue. "
"We are grateful for your service and will continue to learn from this moment," Johnson tweeted.
CNN's Chris Boyette and Jack Hannah contributed to this report.