Vilanova spoke about Pique before victory over Real Betis.
"I hold Tito in the highest regard, he was coaching me when I was 15 years old," said Pique.
"I don't feel bad about what was said yesterday. He is the manager and he has every right to say what he wants. I said that we needed to improve, and I was talking about myself on a personal level. We all need to improve next season."