Kimmich was given his breakthrough under the Manchester City manager at Bayern.
"It was an incredible experience. He is very concerned about the details, very creative and raises the demands of his players," Kimmich told Bild.
"What we knew about the opponents and how they used the formations was impressive. My teammates were always there just as Guardiola had predicted they would be."
Guardiola had three seasons at Bayern before joining City.