Zieler spent five years at United under Sir Alex Ferguson before he was eventually allowed to leave after failing to make a first-team appearance for the Premier League club.
The Germany international has since rebuilt his career with Hannover 96 although is set to leave the club in the summer following their relegation from the Bundesliga.
Zieler has been linked with a switch to Liverpool and Manchester City in the past and while a return to United appears unlikely at present, the goalkeeper has told Goal he would be open to a return.
He said: "At the beginning I was blown away, it was really fascinating [to be part of the United squad under Sir Alex]. Suddenly there were world famous stars walking past me. So the first weeks were spectacular. But of course you get used to those things.
"Then it is just normal every-day life and you just don't think about what these players have won and achieved. The time at United helped me a lot in my development, personally and as a football player. Today I can say for sure: I would always decide to go there again.
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"It's my goal to play in either one of these from next season onwards."
Zieler, who was part of Germany's World Cup winning squad in 2014, also discussed his chances of making Joachim Low's Euro 2016 squad and added: "Of course, and I said this several times already, I really want to be a part of the squad.
"But that's not in my hands, the coaching staff will decide. I can only bring in good performances on the pitch. And I think I did that this season although we have been relegated at the end."