The Italian, now coach of Galatasaray, spent four years at the Etihad Stadium guiding the side to a Premier League title in 2012 and the FA Cup in 2011.
Mancini was sacked as City boss in May 2013, to be replaced by Manuel Pellegrini, but says his impact at the club can still be seen.
“I'm happy that Manchester City is one of the best teams in England because I built this team," he told BBC Sport.
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Manchester City’s top scorer this season is currently Alvaro Negredo, with 23 goals, a player signed in the summer by Pellegrini along with Jesus Navas, Fernandinho and Stevan Jovetic.
Mancini says he feels Pellegrini is doing well at Manchester City and feels the only reason he did not win the title last season was because Manchester United signed Robin van Persie.
"I think Pellegrini is doing a good job but what is happening now at Manchester City, we did three years ago. It's the same," he added.
"I'm very happy about what I did in Manchester, I love the Manchester City supporters and I had a fantastic experience.
"After four or five years, maybe the manager needs to change team. I did my job, I built a fantastic team, we played fantastic football and we didn't win last year only because Manchester United bought Robin van Persie.
"He was the difference, if not I think that would have changed the history in Manchester over the last three years. We played really good football and now they are continuing to do this."