The 28-year-old has made over 400 official first-team appearances for Barca since coming through the club's youth academy, and he is determined to add to his tally in the future.
"My desire is to see my career out at this club," Iniesta stated at a press conference.
"The only thing that could change my plans is the matter of performance. When I stop performing, or when the club decides I've stopped performing, is the day I'll leave."
The Spain international then went on to admit that Barca is going through a difficult moment, and stressed it wants to get back to winning ways in the Copa del Rey match against Malaga.
"We are all on alert and when we say that things are difficult that’s a fact, not a cliche. That’s the reality of football.
"The only thing we can do is analyze the situation and turn it around."
Barcelona was held to a 2-2 draw in the first leg of the quarterfinal against Manuel Pellegrini's men.