Theresa May has urged the EU to get on with discussing her "ambitious but practical" vision for economic relations with the UK after Brexit.
The prime minister told the BBC's Andrew Marr the "right deal for us will be the right deal for them too".
She said she was confident of a deal while accepting the UK could not expect the same market access in some areas.
But Ireland's foreign minister said the UK's proposed solutions for the Irish border were just a "starting point".
Conservative MPs have largely welcomed the PM's speech on Friday, in which she set out what she said were "the hard facts" on Brexit and the reality that neither side could have exactly what it wanted from the negotiations.
While the UK was leaving the single market and customs union, she said she envisaged continued close co-operation in many areas after the UK leaves on 29 March 2019 – including remaining a member of medicines, aviation and chemicals agencies.
She told Andrew Marr it was important to be "straight" with people that life would be different outside the EU but she believed both sides wanted the same overall outcome.
"It was a vision that was ambitious but was also practically based and therefore a credible vision," she said.
"The EU themselves have said they want an ambitious and wide-ranging arrangement with us in the future… If we look at our future prosperity and in the other 27 countries, the right deal for us will be the right deal for them too."
bbc
