Mancini publicly criticised the defender for appearing for Belgium shortly after recovering from a calf injury and it was speculated that his increasing fractious relationship with his squad contributed to his sacking.
But Kompany, who also captains the national team under the management of Marc Wilmots, claims there was no grudge between player and coach.
When asked by reporters if his relationship with Mancini deteriorated, Kompany replied: "No, I think out of experience you have different managers and different styles.
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"There is not one manager who can say he knows it all. Even the best managers in the world have deficiencies. You learn from every manager.
"I have learned a certain way from Wilmots, I have learned from Mancini and I learned from [former Manchester City boss] Mark Hughes. I have concentrated on the positives."
Kompany expressed some regret over the Belgium incident but insisted that his commitment to City would not waver.
"You are injured, you are out, you lose," he reflected. "There is nothing you can say that will make it good. That is why I did not say too much about it.
"I think the most important thing is that I feel good now. I have always been committed to my club. Everybody knows it over there."