The 41-year-old coach has been coy about his long-term future at Camp Nou, with his contract due to expire at the end of the season.
Having guided Barca to 13 titles since taking over the club's first team in 2008, there are suggestions that Guardiola is in need of a new challenge, but Pique thinks the coach has not lost his motivation for the job.
"He must continue at Barca for all he has experienced and for all there is still to experience," Pique told reporters.
The Spain international then denied suggestions of a bust-up between him and Guardiola after being omitted from Barca's match squad for the 3-1 Champions League victory against Bayer Leverkusen last week.
"Guardiola is key in the dressing room," Pique noted. "He gave me the opportunity to experience this and I will always be grateful to him.
"I will never argue any decision he makes."
For all the latest action, check out the Fox Soccer Plus FREE Trial