During a visit to London in the past week, Senator Hanson appeared on camera with Tommy Robinson, a prolific anti-Islam activist convicted of multiple assaults, stalking and inciting violence.
Mr Taylor said while he would not meet Robinson, who has been condemned by conservative figures in UK politics including Reform leader Nigel Farage, his focus was on Australia's economic situation and he wouldn't tell Senator Hanson what to do.
"It's up to her ... I'm not going to give other people advice or other political parties advice on what they should do, but I'm saying that's not my focus," he told Sydney radio station 2GB on Tuesday.
"I've got no intention or plan to meet with Tommy Robinson," Mr Taylor said.
One talkback caller who said he'd volunteered for the Liberal and National parties for at least 50 years also pressed Mr Taylor on why he'd begun attacking One Nation in recent months.
"Why is Angus Taylor so against One Nation? I'm appalled at his comments against One Nation and Pauline Hanson," the caller named Charlie asked.
In response, the opposition leader said his criticisms of One Nation were made with a "heavy heart" because many of the party's supporters were previously coalition voters.
But Mr Taylor said Senator Hanson's party was a "one-person show" which did not have a plan for Australia.
He also pointed to One Nation Senator Malcolm Roberts, who appeared on notorious conspiracy theorist Alex Jones' show in 2024 and praised the shock jock as a "beacon of hope", while suggesting the September 11 terror attacks were an inside job.
Pressed on the comments, which resurfaced in The Sydney Morning Herald and The Age on Tuesday, One Nation MP Barnaby Joyce said Senator Roberts was entitled to share his views but he didn't agree with them.
"Just because one member of One Nation says something, it doesn't mean it's policy," Mr Joyce told Sky News.
While One Nation still leads the coalition in opinion polls, a survey published by Resolve and the Nine newspapers on Sunday showed Senator Hanson's party shed three percentage points to 26 per cent primary vote share, with the coalition up three points to 23 per cent.
