The 32-year-old midfielder is contracted with Barcelona until 2018 but has not yet been offered a new deal in the same way teammate Sergio Busquets was recently when signing a five-year contract.
"Guardiola knows what I think, what I want, and my desire is ending my career here, like I've said many times," Iniesta told Spanish radio station COPE.
"I'm very clear about what I say and what I think, everybody knows it.
"I would love to end my career at Barcelona. I have a contract until 2018. We will have to ask the directors whether they want to extend my contract.
"But I can only repeat that I want to retire at Barcelona."
Iniesta spent four years working under Guardiola at Camp Nou, winning three La Liga titles, the Champions League twice, two Copa del Reys and seven other trophies.