Macron's adviser did not rule out that the number of French troops in the region would decrease if the military and political situation did not improve in the next six months.
It comes amid a spate of deadly attacks and increasing hostility towards the presence of French troops.
The Sahel region of Africa lies to the south of the Sahara Desert and stretches across the breadth of the African continent.
He also called on Barkhane and G5 forces to strengthen the development side of their operation to regain the trust of civilians.
Macron said in December he wanted the West African leaders to clarify whether they want and need "our presence".
Pau summit aimed at clarification of the Western African leaders' intentions and plans regarding presence of the French troops in the Sahel.
Pau, the location of the summit, is home to a helicopter regiment which saw several of its French soldiers killed in a helicopter collision in Mali in November.
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"We will be more efficient and more agile", she said.
Troops from West Africa, France and the United Nations have struggled to contain the scourge despite pouring millions of dollars and years of manpower into the effort.
Militants linked to al Qaeda and Islamic State have strengthened their foothold, making swathes of territory ungovernable and stoking ethnic violence, especially in Mali and Burkina Faso. "The establishment of the G5 Sahel-France Joint Staff as part of the global coalition for the Sahel will allow our armies to grow in strength and reap convincing results in the fight against terrorism", said Kaboré. He also wrote to "salute the courage and bravery" of the military forces who lost their lives and repelled the attack in Chinagodrar.
French troops were hailed as heroes in 2013 for helping to prevent the insurgency from reaching the capital Bamako.
Last year, only $300 million of $400 million pledged by the global community in cash and material support to the Sahel was delivered, according to the French presidency.