Let X be a (not-necessarily homotopy-associative) H-space. We show that TCn+1(X) = cat(X-n), for n >= 1, where TCn+1(-) denotes the so-called higher topological complexity introduced by Rudyak, and cat(-) denotes the Lusternik-Schnirelmann category. We also generalize this equality to an inequality, which gives an upper bound for TCn+1(X), in the setting of a space Y acting on X.