The United defender was controversially left out of Hodgson's squad for the Euro finals.
Welbeck told The Sun: "I spoke to Rio. It was not a long conversation but he made the effort to get in touch which I think tells you all about the man.
"He was obviously gutted not to be a part of it and must have been really down. But he still took the time to contact me and say 'Well done'.
"I'm really disappointed for him, it's not for me to pick the squad, though. The manager has picked his 23 players and now I can't wait to meet up and try to stake my claim for a place in the team."