The Queen has met every US president during her tenure apart from Lyndon B Johnson (Image: Getty)

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Presidents come and go, but throughout the decades, the Queen has always been on hand to keep the 'special relationship' ticking over.

Greeting Joe Biden tonight at the G7 dinner in Cornwall, Her Majesty will no doubt have a few stories to tell – having met 12 of his predecessors stretching back to Harry Truman in 1951.

President Biden has already received a warm welcome since touching down in the UK, taking a coastal walk with Boris and Carrie Johnson alongside his wife Jill.

The Queen will also appreciate his touching tribute to Prince Philip on what would have been his 100th birthday, with the US leader saying: "I know there are a lot of people feeling his absence today."

Indeed, the Duke of Edinburgh was always by the monarch's side as she met some of the most famous faces of the last century.

But what were her relationships really like with the former leaders of the free world? From feeling upstaged by the Kennedys to controversial kisses and mocking George W Bush, take a look back at their most memorable moments.

Harry Truman: 'She was a fairy princess'

Princess Elizabeth with Harry Truman in October 1951 at the White House
(Image: AFP via Getty Images)

The Queen's first meeting with a president came while she was still a princess – travelling to Washington to dine with Harry Truman in 1951.

The meeting followed her first royal tour of the US and the Trumans laid out all the stops, welcoming her at the airport with a 21-gun salute.

The president was captivated by the 25-year-old, calling her a "fairy princess".

The young royal was suitably impressed too, telling an aide she enjoyed Truman's straightforward manner.

She said to the president: "Free men everywhere look towards the United States with affection and with hope."

Dwight Eisenhower: Pen pals who shared scones recipes

The Queen with Dwight Eisenhower at a White House state banquet in October 1957. The president is wearing the British Order of Merit awarded him by King George VI after World War II
(Image: Getty Images)

Five years into her reign, the Queen made her first state visit to the US as monarch and was received by Dwight D Eisenhower.

The pair developed a close friendship and two years later, in August 1959, Her Majesty returned the favour by inviting him and wife Mamie to Balmoral.

While their conversations behind closed doors remain a secret, it appears the president was very taken with the cream teas that were being dished out.

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Writing to Eisenhower in 1960, the Queen penned a warm letter that included her personal recipe.

"Seeing a picture of you in today’s newspaper standing in front of a barbecue grilling quail, reminded me that I had never sent you the recipe of the drop scones which I promised you at Balmoral," she said.

"I now hasten to do so, and I do hope you will find them successful."

John F Kennedy: Jackie 'felt resented' at dinner

The Kennedys pose with the Queen and Prince Philip ahead of a 1961 dinner at Buckingham Palace
(Image: Getty Images)

John F Kennedy and his glamorous wife, Jackie, took the world by storm when he entered the White House in 1961.

And in scenes depicted in Netflix's The Crown, even the Queen is said to have felt upstaged when she hosted them at Buckingham Palace that summer.

Kennedy presented the royal with a signed portrait of himself in a silver Tiffany’s frame, with a message reading: “To Her Majesty Queen Elizabeth II, with appreciation and the highest esteem, John F. Kennedy.”

However, Jackie felt awkward at the dinner, reportedly saying later: “I think the Queen resented me. Philip was nice, but nervous. One felt absolutely no relationship between them.”

The Queen and Jackie's relationship thawed after the assassination of Kennedy in 1963, though, with the former creating a memorial and scholarship fund in his honour.

Richard Nixon: Tried to set Charles up with daughter

Richard Nixon chats with the Queen alongside wife Pat and Edward Heath, the former prime minister, outside Chequers in 1970
(Image: Popperfoto/Getty Images)

President Nixon had met the Queen even before he entered the Oval Office, showing her and Prince Philip around the White House in 1957.

The couple hosted him at Buckingham Palace more than a decade later in 1969, but according to BBC America, the leader took a particular interest in the love life of Prince Charles.

Historian Sally Bedell Smith revealed that Nixon tried to play matchmaker between the heir to the throne and his daughter, Tricia.

“More than three decades later when Charles and his new wife, Camilla, visited George W and Laura Bush at the White House, he joked that the Bushes had better not try to fix up their twin daughters with his sons William and Harry the way Nixon had worked to set him up with Tricia," she said.

Gerald Ford: Joked about renegade sons

Gerald Ford dances with the Queen during a 1976 ball at the White House
(Image: Getty Images)

Gerald Ford committed a rather forgivable faux pas when he joined the Queen for a dinner commemorating the bicentenary of the American Revolution against the British in 1776.

During the White House ball, he reportedly referred to the monarch as 'Your Majesty' instead of 'Her Majesty'.

The Fords suffered further embarrassment when their son, Jack, was spotted wearing jeans and a T-shirt.

The Queen at least appeared to see the funny side, telling the First Lady: "Don't worry, Betty, I have one of those at home, too."

Jimmy Carter: Controversial kiss with Queen Mother

The Queen and Prince Philip with Jimmy Carter in the Blue Drawing Room at Buckingham Palace in 1977
(Image: Getty Images)

One of the more scandalous presidential blunders came when the Queen invited Jimmy Carter to stay at Buckingham Palace ahead of a NATO visit in May 1997.

While meeting her and other members of the Royal Family, President Carter broke protocol and kissed the Queen Mother on the lips.

The Queen Mother, who died in March 2002, was not amused.

"Nobody has done that since my husband died," she later said. "I took a sharp step backwards – not quite far enough."

Ronald Reagan: 'We talked like old friends'

Her Majesty and Ronald Reagan share a joke at a banquet in California in 1983
(Image: Getty Images)

Of her many presidential acquaintances, the Queen appeared to hold a special affection for Ronald Reagan, with the pair bonding over a love of horse riding.

In 1982, the Reagans became the first US family to stay as overnight guests at Windsor Castle.

The president couldn't hide his excitement about the visit, writing in his memoir: "The highlight of our stay there came when the Queen and I went horseback riding together and Nancy and Prince Philip took a horse-drawn carriage ride. I must admit, the Queen is quite an accomplished horsewoman.

He added: "I spent that evening with the Queen, sitting on a sofa in the large living room, talking about our children like old friends."

George H W Bush: Baseball visit was a home run

George H W Bush waves to the crowd as the Queen and Prince Philip attend a baseball game in Baltimore in 1991
(Image: AFP via Getty Images)

A die-hard baseball fan, George H W Bush decided to quite literally pull out all the stops when the Queen visited America in 1991.

The president took the then-65-year-old and Prince Philip, a fellow sports lover, to Baltimore’s Memorial Stadium, where the Orioles were playing the Oakland Athletics

The Queen, dressed in a red dress, black gloves and three strands of pearls, met the players in the dugout, which was decked out with bulletproof glass.

Told to act naturally, Oakland's Jose Canseco did just as he was asked – chewing gum while shaking hands with the royals.

“I've been playing baseball for 10 years, and I'm used to a normal atmosphere,” said the Orioles' Cal Ripken Jr after welcoming the couple.

“This is a lot different. There's a lot of excitement.”

Bill Clinton: 'She could have been a politician'

Bill Clinton gets a rare smile from the Queen ahead of tea at Buckingham Palace in 2000
(Image: AFP/Getty Images)

To commemorate the 50th anniversary of D-Day, the Queen invited Bill and Hillary Clinton to stay overnight on the Royal Yacht Britannia.

The 1994 trip was one of multiple occasions the pair crossed paths and Clinton spoke warmly of Her Majesty in her memoirs – even suggesting she could be a politician.

“Her Majesty impressed me as someone who but for the circumstance of her birth, might have become a successful politician or diplomat," he said. "As it was, she had to be both, without quite seeming to be either.”

He added: "She's a highly intelligent woman who knows a lot about the world… I always marvel when we meet at what a keen judge she is of human events. I think she's a very impressive person."

George W Bush: Ribbed by Queen over age blunder

George W Bush and the Queen attend a dinner at the British Embassy in Washington in 2007
(Image: AFP/Getty Images)

George W Bush's public speaking gaffes were a long-running joke during his presidential term, and he saved a fine one for the Royal Family.

At the end of a US visit in 2007, the president stumbled over a line in his speech during a Washington dinner, suggesting the Queen had helped celebrate the US bicentennial in 1776, rather than 1976.

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Mortified by his mistake, he winked at the monarch, saying: "She gave me a look that only a mother could give a child."

Always one for a dry one-liner, the Queen later began her own speech by saying: "I wondered whether I should start this toast by saying, 'When I was here in 1776'."

A laughing Bush responded: "Your Majesty, I can't top that one."

Barack Obama: Michelle comforted after breaking protocol

Barack Obama and the Queen speak at a state banquet in Buckingham Palace in 2011
(Image: Getty Images)

Michelle Obama caused a stir in 2009 by putting her hand around the Queen's shoulders as she joined husband Barack Obama on their first official trip to the UK.

The First Lady later admitted she was unaware of royal protocol, writing in her memoir: "I did what's instinctive to me any time I feel connected to a new person."

The monarch was nonplussed by the blunder and hugged her back. Furthermore, when Michelle appeared to reluctant to risk breaching tradition again by joining the Queen in her Land Rover, she was put further at ease.

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"When Michelle hesitated, the Queen said to Michelle, 'Have they warned you that you can't do this?'" journalist Ashley Pearson told the Amazon Prime documentary Michelle Obama: Life After the White House,

"And when she said, 'Yes', the Queen said, 'Rubbish – you can sit wherever you want.'

"So it seems like, despite everybody in the world freaking out that Michelle put her arm around the Queen, the Queen was charmed – very much so – by Michelle Obama."

Donald Trump: Breaks almost every protocol imaginable

The Queen and Donald Trump attend commemorations for the 75th anniversary of D-Day in 2019 in Portsmouth
(Image: Getty Images)

Donald Trump bulldozed his way through most presidential protocols during his time in office, and his meeting with the Queen in August 2018 was no different.

Arriving late after awkwardly holding hands with former prime minister Theresa May, the six-foot-two former reality star stepped in front of Her Majesty, then 91, blocking her path as they walked the lawns of Windsor.

The 74-year-old and wife Melania also broke another golden rule as they declined to bow and curtsy upon being received.

Princess Anne appeared to capture the mood of the nation later that evening as she distantly stood away from the American.

Beckoned by her mother to come and greet the president, she was seen shrugging her shoulders in footage that went viral across the world.