Lithuania, a majority-Catholic EU member, has summoned the Vatican's ambassador to the country after Pope Francis told Russian youths to remember that they are the heirs of the "great Russian empire."

In response to Pope Francis' impromptu remarks to Russian youths in a live video address on Friday, the Lithuanian Foreign Affairs Ministry invited the Vatican's ambassador to Lithuania for a meeting after he returns from holiday, a ministry spokesperson said on Wednesday.

The Vatican clarified on Tuesday that Pope Francis did not intend to glorify Russian imperialism when he extolled Russian emperors Peter the Great and Catherine II, who expanded the Russian empire.

Lithuania and Poland were once part of the Russian Empire in the 18th century after they were annexed by Catherine the Great. They acquired independence due to both the collapse of the Soviet Union and Western interference in supporting Lithuanian independence. 

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The Vatican said that the Pope's intent was "to preserve and promote all that is positive in the great Russian cultural and spiritual heritage."

Ukraine, which was once part of the Russian Empire, said that Pope Francis' comments were "deeply regrettable."

Lithuania, a small country with a large Catholic population, has been a vocal critic of Russia and a strong supporter of Ukraine in both the EU and NATO.

Prior to the collapse of the Soviet Union, the Catholic Church in Lithuania never held anti-Soviet or pro-independence positions. This only occurred after the Soviet bloc collapsed in 1990.

The Vatican has maintained diplomatic representation in Lithuania since July 28, 1993.

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