"We want to regain the trust of our colleagues, government and public. We want to develop a stronger growth platform in the UK and globally. We understand that in acquiring a British icon we have a responsibility to preserve its heritage."
Committee chairman Peter Luff (Conservative Mid Worcestershire) told Mr Firestone that Kraft's reputation had been damaged, adding he would be recalled for further questioning if the MPs were not satisfied with his replies.
Mr Firestone and Cadbury president Trevor Bond were repeatedly challenged about their long-term commitment to the Bournville factory in Birmingham.
They insisted they intend to keep production in Britain but stopped short of any specific long-term commitments.
Asked exactly how many years Kraft plans to maintain production at the Birmingham base, Mr Firestone said: "Bournville remains at the heart of the Cadbury business and we intend to maintain it, we intend to invest in it, we intend to ensure that it remains competitive."
Mr Bond also said that the company needs to keep its UK operations "competitive".
Asked specifically whether Cadbury's Dairy Milk would continue to be produced in the UK, he said: "Yes."
Pressed on how long this would be for, he added: "For as long as our consumers are delighted by the product and the taste that we produce."
Mr Binley interrupted: "That simply is not good enough for the workforce."
Lindsay Hoyle (Labour Chorley) said Kraft made the same promises to Terry's of York before moving production of the Chocolate Orange to Poland.
He accused Kraft of doing "exactly the same" to York as the Vikings, saying: "They pillaged and asset-stripped that company."
Jack Dromey, deputy general secretary of Unite, earlier told the committee that "warm words and cheesy smiles" from the US firm were not enough, saying the Somerdale workers had been "devastated" by the closure.
Mr Dromey said after the hearing: "Parliament has exposed the truth - Kraft lied. The 6,000 Cadbury workers will never trust Irene Rosenfeld (Kraft's chief executive) again unless she personally meets the workers and guarantees no factory closures or compulsory redundancies.
"The committee forced Kraft to take stumbling steps in the right direction but the company needs to go further and give a five-year guarantee.
"The lasting legacy of this shameful saga must be a Cadbury law, banning hostile takeovers, clouded in secrecy, of successful British companies."