Hamao died Thursday in Tokyo, according to a Vatican statement.
Hamao served as bishop of Yokohama for nearly 20 years before being appointed president of the Pontifical Council for the Pastoral Care of Migrants and Itinerant Peoples in 1998.
He was made a cardinal in 2003 and retired from his Vatican job in 2006.
In a message of condolence sent to Hamao's sister and the bishop of Yokohama, Pope Benedict XVI praised the cardinal's "lively concern for the poor and generous service to the universal church."
"We should use shock therapy to sober up the Americans. In this case, the Americans will speak about the need to resume dialogue. There is no other option"
The United States is concerned about the current crisis in the relations with Russia and suggests returning to reasonable policies to avoid a nuclear war