The Dutchman was one of the stars of the tournament as Louis van Gaal's men reached the semi-finals of the competition, only to suffer penalty shoot-out heartbreak at the hands of Argentina.
Robben, 30, subsequently missed the DFL-Supercup clash against Borussia Dortmund and feels that he needs to work on his fitness before representing the Bavarians.
"It's what we agreed because the match came too early for me," he told the club's official website when asked about his absence from the clash.
"I need to train hard for a few days and recover my rhythm. I'm still very much in pre-season. My desire to play football is certainly back again. I'm ready for the restart!
"Obviously the three weeks [of holiday] went by in a flash and I'm sure a couple more days would have done us all good. But it just wasn't possible because we have the DFB Cup first round on Sunday."
Robben was named among the final three contenders for Uefa's Best Player in Europe award on Thursday.