The former team-mates met in last year's World Cup final with Van Bommel earning criticism for his physical approach to the game, which was won by Iniesta's injury-time goal.
It will be the first time that the two have come head-to-head on the pitch since the final yet Iniesta maintains there will be no problems.
"I do not fear Van Bommel, I had no problems with him at Barca. I have nothing against him," he told reporters during a pre-match press conference.
"There could have been some kind of actions but I don't think it will be repeated again. I like to think we all act in good faith, defending our own interests. There were hard tackles but it ended very well for me, for us."
The Spain international also reacted to news that another former team-mate Zlatan Ibarhimovic has been ruled out of the game through injury.
"It's a shame that 'Ibra' will not play, you always want to see the great players feature. He was eager to return for this game but Milan are too big to rely on one person," he added.
Iniesta was also keen to pay his respects to Milan, but insists his side should have the edge over the Serie A champions.
"I have great respect for Milan as a club and the players they possess. They are always a major team. I feel that we are better than Milan but they can win. We will work very hard to achieve what we want to," he concluded.
Barcelona will be looking to get off to the best possible start in the new Champions League campaign after defeating Manchester United 3-1 in last season's final at Wembley.
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