The leader of the United Auto Workers union said he hasn’t talked with Tesla Inc.’s Elon Musk after the chief executive’s invitation to hold a union vote, but was open to such talks if the company addressed past issues.

“I’ve actually not talked to Mr. Musk or any representative of Tesla,” UAW President Ray Curry said during a roundtable discussion with the Automotive Press Association on Tuesday. During the hourlong session, Mr. Curry also talked about how the transition to electric vehicles will affect the union’s 2023 negotiations, about organizing EV startups and how supply-chain disruptions might provide opportunities for companies in the U.S.