Cambiasso (33) and Milito both have expiring contracts with the Serie A giants and Ausilio has now confirmed that the pair will depart this summer.
"I speak to Cambiasso every day in an informal manner as he is a friend," Ausilio told reporters.
"This time there was a difficult moment between him and I, as we talked about the future. Due to reasons of strategy, renewal and an Inter for young players, he will not be confirmed in the squad for next season.
"We will not propose a new contract. He understood this and sooner or later will return to us."
Ausilio then spoke of Milito's professionalism and hopes he will bow out with a victory and a goal on Sunday evening when Inter face Chievo in their final Serie A game of the season.
"We said to each other it was preferable to change, he knows that," Ausilio added.
"Milito does not represent a problem for us, as he is a professional who loves our club colours.
"I would like to win tomorrow with him as a protagonist. It would be great closure."