Why not keep things simple?

"I'm glad to see you again!"  

I checked it out on my book and luckily found this.
"Perfect form is required when the action The Infinitive expresses precedes the situation The Predicate conveys." 
Source:张道真，2002(2007.3 reprint)，张道真实用英语语法，外教版，on page:301

One example it provides on the same page
"He was pleased to have made your acquaintance."

So I think your first expression fit the context well.