The 41-year-old, who has featured for Real Madrid, Bayern Munich, Bayer Leverkusen, Hamburg and Santos, joined Palmeiras in December 2014 before signing a one year contract extension last October.
Ze Roberto subsequently helped his side claim the 2015 Copa do Brasil and admits he was tempted to retire at that point but has decided to stay on for one more campaign.
"I know that our life is about choices and goals. The majority was achieved," he told UOL. "Last year, had I decided to stop playing I would have stopped very happy for everything.
Palmeiras have come under criticism recently on the back of two draws and Ze Roberto says he understands the fans’ frustrations.
"Criticism is normal I put myself in the situation of the fans - I will forever want the goal and the victory," he added.
"Our last game was not perfect, it did not turn out the way we wanted, but we did not lack fight. We know that it is early in the season."