Pogba began his career at United but initially failed to break through at Old Trafford before rejoining the club after four trophy-laden seasons with Juve.
And the France star, who has been linked with a return to Juve amid speculation over his relationship with United boss Jose Mourinho, has revealed he is settled in Manchester.
"I'd spoken to my brother about it," Pogba said in a UEFA interview. "And we said: 'Can you imagine what it'd be like if we're drawn in the same group as Juventus?' That's the way it's panned out and it's really special.
"We've all been sending messages about seeing each other again. There are a lot of emotions involved because I began my first season in the professional game and scored my first goal at Juve.
"It's there that I developed as a player and so I have huge respect for the club. [But] I've come back home. I joined the youth academy here. I'm at home here and it will always be that way.
"I grew up with my team-mates and we've all been reunited again in the first team, so it's a beautiful story.
"The career I have had and now, with this return to Manchester, it's really splendid."
Pogba won the World Cup with France ahead of the 2018-19 season and the midfielder is targeting more silverware in the Champions League.
United have taken four points from two matches ahead of a back-to-back fixtures against the Italian giants.
"You can't predict anything in the Champions League," Pogba added.
"It’s like the World Cup. I see it as a high-profile competition with great teams. Everything is possible.
"I must admit I'm thinking about it [lifting the trophy]. I think all players want to win this title. It's my goal to take it home."