Mancini claims he never felt any pressure with Guardiola lurking in the shadows.
The Italian said: "I didn't have any problem for this - I understand the newspapers should write that every manager wants to take this place because it is a good place.
"But I think we work very well here, I have a five-year contract and I think this is possible for five years."
Bayern were considered long shots to land Guardiola and his choice of club has raised eyebrows within the game.
But Mancini added: "Bayern Munich is one of the top clubs in the world for its history, like Barca.
"If he decides this it is because it is the best solution for him."