"As I have often repeated, a Christian can not be an anti-Semite, we share the same roots", Francis said, stressing the importance of inter-faith dialogue.
Pope Francis is urging efforts to ensure that anti-Semitism is "banned from the human community".
The day after the Pittsburgh attack the head of the Catholic Church said in his weekly prayers that "all of us are wounded by this inhuman act of violence". Earlier this year, a worldwide study of anti-semitism released this year reported a marked increase in hostility to Jews.
He noted the recent 75th anniversary of the deportation of Rome's Jews by Nazi occupiers and that November 9 will be the 80th anniversary of "Kristallnacht", the night when mobs ransacked thousands of synagogues and Jewish businesses in Germany and Austria.
The Pope went on to note that there are still anti-Semitic attitudes in society today. It would be a contradiction of faith and life.
"Without a living memory, there will be no future, for if the darkest pages of history do not teach us to avoid the same errors, human dignity will remain a dead letter", he said.
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Francis said the Holocaust, in which the Nazis murdered six million Jews around Europe during World War Two, must continue to be commemorated to keep its memory alive.
This is why, he said, "religious freedom is a supreme good to be safeguarded, a fundamental human right and a bulwark against the claims of totalitarianism".
Half a century on and the Vatican released another document.
The pope emphasized the importance of friendship between Jews and Catholics, saying "we are called to promote and to expand interreligious dialogue for the sake of humanity".
One of Francis' closest friends from his time as Archbishop of Buenos Aires is Rabbi Abraham Skorka, an Argentine Jewish leader and scholar.