The Blaugrana star says he hopes to improve with every season, and admitted working without Tito Vilanova - who is recovering from cancer treatment - can be difficult
The Blaugrana star has played alongside the Blancos defender in the Spain national side for years, though the two Roja icons remain bitter rivals in La Liga.
Barca president Sandro Rosell recently claimed there is a Madrid player which he would like to sign and when asked who he rates highly, Iniesta was more specific with his praise by singling out Ramos.
"I’ve always liked Sergio Ramos," he told Catalunya Radio. "He always seems like an amazing player. And I like to look at the upcoming players, such as Isco."
Iniesta added he misses working with Pep Guardiola, who left Camp Nou as head coach last summer, and admitted it is difficult working with current boss Tito Vilanova being absent due to his recovery from cancer treatment.
"I do miss Guardiola because I like working with people who have done great things and he did," the Ballon d’Or nominee said.
"It becomes more complicated without Vilanova, but we are all working hard. I hope everything goes well."
The 28-year-old has helped Barca comfortably top La Liga as of mid-February, and Iniesta has reiterated his desire to remain at Camp Nou for the entirety of his professional career.
"I want to improve every year," he added. "To maintain our level and compete with the others [at Barca], I have to be the best.
"My desire has always been to finish my career at the club. I feel very good here. I’ve been here for 12 years and I want to retire here, but my performance will decide if that happens.
"When two parties want the same thing, it should not be a problem."