Guardiola, now in charge of Bayern Munich, froze out Pique in the final six months of his reign at Barca.
"(The relationship) was tense, very intense," Pique recalled to Jotdown.es.
"We had our ups and downs.
"I'll remember the good things, which are many."
It was put to Pique that he demanded Barca fire Guardiola, but the defender insisted it was an "urban legend".
Asked if Guardiola felt it was true, Pique added: "He never told me. I do not know if he believes it is true or not."
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