The pair had clashed once at the Bus Stop chicane as Hamilton hurried to complete a flying lap, and Maldonado then appeared to jink towards the McLaren on their following laps as they came out of La Source, with light contact made between them.
Maldonado was adjudged to have been more at fault in the incident and will be moved back from 16th to 21st on the grid.
When asked by AUTOSPORT whether the second move had been deliberate retaliation, the Williams driver said: "No. It was a big moment.
"I tried to overtake him because he slowed down quite a lot. It's like a straight, but there's a turn and maybe at that moment he was turning and I was a bit straight. It's difficult to say.
"There was not any reason for both drivers to do anything after the chequered flag. It's clear that there was a mistake on both sides.
Maldonado added that he had not spoken to Hamilton about either incident and that he was comfortable with what had happened initially at the chicane as there was "no contact".
Hamilton was given a reprimand but receives no penalty. The stewards said both drivers were guilty of "causing a collision" and were punished under article 16.1 of the regulations.