"If you obey, you will be safe", he said.
The statement comes ahead of the United Kingdom government's emergency security session later on Monday, which will be chaired by Prime Minister Theresa May and which is expected to focus on how to retaliate against Iran's seizure of the British tanker.
Earlier on Sunday, Iran said that it launched a maritime casualty, accusing the Stena Impero's crew of ignoring a distress signal after an "accident" with an Iran shipping boat.
"Ambassador to Iran Fred Santos is contacting Iranian authorities to seek assurance that the Filipino seafarer is safe and will be released soon", the DFA said in a statement, without naming the Filipino.
Video footage aired on Iranian state television on Saturday shows masked commandos rappelling from a helicopter onto a British tanker in the Strait of Hormuz.
"We are going to be looking at a series of options", junior Defence Minister Tobias Ellwood told Sky News.
The release on Sunday of an audio recording has shed new light on the seizure of a British-flagged tanker at the hands of Iran's Revolutionary Guard as tensions flare in the strategic Strait of Hormuz. "As you are conducting transit passage in a recognized worldwide strait, under global law your passage must not be impaired, impeded, obstructed or hampered", the Montrose radioed to the tanker. "The seizing of the Stena Impero was in clear violation of worldwide law".
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"If we want to continue playing a role on the global stage - bearing in mind that threats are changing - all happening just beneath the threshold of all-out war, then we must invest more in our defence, including our Royal Navy", Ellwood said, claiming that the country's navy is "too small to manage our interests across the globe".
The seizure of the British-flagged tanker has proved popular inside Iran.
Stena Bulk's chief Erik Hanell said on Sunday the firm had formally asked Iranian authorities for permission to visit the vessel's crew, and was waiting for a response.
The British Government is expected to announce its next steps in a speech to parliament on Monday.
Trump called off air strikes against Iran at the last minute in June after the Islamic republic downed a U.S. drone, one of a string of incidents including attacks on tankers in the Gulf. Iran's Foreign Minister Mohammad Javad Zarif blamed Washington and US President Donald Trump's hawkish national security adviser John Bolton for luring Britain into conflict.
In a letter to the UN Security Council, Britain said the Stena Impero was approached by Iranian forces in Omani territorial waters, where it was exercising its lawful right of passage, and the action "constitutes illegal interference".