The 50-year-old Argentinian succeeds Tito Vilanova, who stepped down from the role on Friday after one season in charge as he continues his battle with cancer.
"Whatever the club decide is the best for Barca. I think he will fit in with our model," Iniesta told Marca while at a promotional event.
"If the club have decided on him, then he's the ideal coach for us."
Iniesta added: "It's a good decision. I know him from the match in the World Cup in South Africa. He seems a good coach.
"The club wouldn't have gone for a coach who doesn't fit in as they have clear ideas about that they want.
"Every season we have to have high hopes of winning titles."