The 32-year-old sustained an injury in January and spent the rest of the season either sidelined or benched due to the good form of emergency replacement Diego Lopez.
However, he will take his place in goal for la Roja for the upcoming Confederations Cup and the defender says his skipper is raring for a return to competitive action.
“Iker is the banner of Spain and Madrid and has been missed," he told AS.
“I have seen him work with enthusiasm to return to the field. For Casillas, as for me, playing for Spain is always a source of pride and to do so after such a long injury has been a great joy for Iker.”
Ramos went on to say that his nation are determined to win the Confederations Cup, but stressed that the quality of opposition will mean victory could be difficult.
“Now our goal is help the team to do their best in the Confederations Cup, If we get through we could face rivals such as Italy or Brazil and Mexico, it will be very tough."
Spain are in Group B for the tournament, alongside Uruguay, Tahiti and Nigeria.