Spanish sources claimed in March that the duo had developed a fractious relationship and that Guardiola did not want the 25-year-old in the squad for 2012-13 as a result.
Pique gave no credence to such reports and stressed that he is determined to stay at the club despite having spent several matches on the bench during the course of the season.
"I have never had a problem with Guardiola and we have always said things face to face when we had to," he told TV3.
"At a big club like this, you know you are just passing through, but I want to stay here for many years, despite the fact that some like to talk about transfers when we reach the summer."
The Spain international also played down the fact that Guardiola has decided to leave the club and has no doubt that Tito Vilanova will know how to take over the team.
"If Guardiola is not staying it is because there is something that made him realise that it was time to go," Pique added.
"Inside the dressing room we were not surprised that Tito Vilanova will be the new coach.
"He showed that he has a strong character in the Supercopa when he pushed Jose Mourinho after he had poked him in the eye."
Pique rejoined the club in 2008 after a four-year spell in the Premier League with Manchester United.Goal.com will be running a dedicated LIVE! on Saturday from 11.00-00.00BST to keep you up to date with all the latest about the Champions League final between Bayern Munich and Chelsea, while also offering you the chance to ask our European football editors any questions you have about the game via Goal.com International's Twitter account, or our Facebook page.