The 43-year-old guided Bayern to the domestic double in his first season in charge, yet also received his fair share of criticism for his treatment of players such as Toni Kroos and Mario Mandzukic.
Nevertheless, Hitzfeld is confident the ex-Barcelona coach is the right man for Bayern.
"I reckon Guardiola will stay at Bayern for a few more years and I have no doubt about it that the club will continue to be successful with Guardiola at the helm," Hitzfeld told Kicker.
"Bayern said that they will never fire Guardiola in an attempt to make it clear that his position is stable and that is a good thing. It shows that they are 100 per cent satisfied with Guardiola.
"Success always helps strengthen a coach's position. But I get the feeling Bayern are on the same page as Guardiola anyway.
"Bayern need a strong coach like Guardiola. Although I get the feeling that he's open to the opinion of others as well."
The Bavarians started the 2014-15 Bundesliga campaign with a 2-1 win over Wolfsburg on Friday.