The Germany international has taken the time to praise his now former coach, while he also had words of encouragement for Matthias Sammer
Kroos worked under Guardiola at Bayern during the 2013-14 campaign and was temporarily benched by the former Barcelona boss shortly after the winter break.
However, Kroos has nothing but fond memories of the 43-year-old following their time together at the Allianz Arena after moving to the Santiago Bernabeu in a €25 million (£19.7m) deal.
"Last season under Pep Guardiola brought me some amazing experiences. Pep is a fantastic human being and a very special coach," the Germany international wrote in a message on his official Facebook page.
"He is without a doubt among the best coaches I have worked with. He has tremendously helped me develop as a player.
"I am very grateful to Pep for all the faith he has shown in me."
Kroos then went on to express his gratitude to sporting director Mathias Sammer for all he's done for him throughout his career, too.
"And the same goes for Matthias Sammer, who I already knew from my time with the various youth teams at the DFB. I have really got to appreciate him.
"I'd like to wish Guardiola, Sammer and all my friends at Bayern all the best and many successes in the years to come."