The pontiff said the world's 65 million refugees are more than simply numbers and he said genuine hospitality was "our greatest security against hateful acts of terrorism".
He said: "I encourage you to welcome refugees into your homes and communities, so that their first experience of Europe is not the traumatic experience of sleeping cold on the streets, but one of warm welcome."
Speaking to the alumni of European Jesuit schools, the Catholic leader went on to say each refugee "has a name, a face and a story, as well as an inalienable right to live in peace and to aspire to a better future" for their children.
At the United Nations' Migration Summit in New York on Monday, wealthy nations will be urged by humanitarian aid workers to do more to support the resettlement of refugees.
Meanwhile, jackets worn by refugees who sailed from Turkey to the Greek island of Chios are being laid on Parliament Square in central London on Monday to highlight the thousands of people who have died trying to reach Europe since last year.
Henry Makiwa from the Christian humanitarian aid charity World Vision told Premier Christian Radio the display will include 2,500 lifejackets.
He explained: "It's a visual display we feel will resonate so well with the people of London. It will also resonate so well with the people of the UK. We know the people of the UK have been really accepting of refugees."
Talking of the importance of the UN summit, Henry Makiwa added: "This is an opportunity for global leaders to be looking at this issue and be looking for, not only a meaningful change, but a sustained solution which can last for a long time."
Listen to Henry Makiwa speaking with Premier's Hannah Tooley by clicking here: