The coach hailed the work done by predecessor Jupp Heynckes but says the team has actually improved over the past 10 months.
The Bavarians won a treble under previous coach Jupp Heynckes and were crowned champions of Germany with six rounds of the season remaining.
However, Tuesday's win at Hertha Berlin saw Bayern seal the title with seven games to spare, much to the delight of Guardiola, who said he he did not expect things to go this well in his first season at the Allianz Arena.
"I am satisfied that we have done it," the former Barcelona boss told Sky. "It's another title for this club and that's important. We've had a great season and now we will enjoy it. The Bundesliga is our bread and butter. In the cup competition it is enough to win four, five games to reach the final. In the league you have to work and work every day, every weekend.
"If you see how the boys worked under Jupp Heynckes already last season, they have got even better. That is the result of hard work. At the start of a season, you always hope that everything will be good — but I wouldn't have thought that it would be this good.
"In the first four, five months, we had a lot of problems and a lot of injuries. Our level wasn't good, but the individual quality of the players led to our wins. But we became better day by day. We will eat together now and celebrate together. If you have a bit of time, you should enjoy it. Today and tomorrow we are going to celebrate."
Bayern is also on course to win a second successive treble, as it is already through to the semifinals of the DFB-Pokal and the quarterfinals of the Champions League.