The Spain maestro is not happy that there is already pressure on the Blaugrana coach, who has penned a two-year contract with the club, to emulate the treble success of 2009
Vilanova served as Guardiola's right-hand man for the duration of his time in charge at Camp Nou but has now taken the hot seat following the former Spain international's decision to take a year-long sabbatical from the game.
Iniesta believes that the Blaugrana have made the right choice, but the midfielder admits that he is concerned by the fact that the new boss is already being asked about emulating the treble success of 2009.
"It is not good for everyone to start comparing Tito with Pep," Iniesta told El Pais. "Let's start at the beginning, do the right thing by all and not put extra pressure on Tito.
"There is no doubt that the philosophy will not change, but Tito has his ideas. He is a new coach who will want to apply his own method; his way of seeing things, working, conveying things.
"In short, he is different from Pep. Pep has similarities with him as they worked together, side by side, but Tito is Tito and Pep is Pep."
Iniesta is currently on international duty at Euro 2012, preparing for Spain's quarter-final clash with France in Donetsk on Saturday night.