The former Barcelona captain made the move to Japan last week.
Iniesta told Cuatro: "There were a few moments when Real Madrid came closer. But there have never been any negotiations beyond the fact that they wanted me to be there.
"Even if Madrid attracts attention, it was clear that since I was in La Masia, I was going to succeed in Barcelona. The beginnings were not easy, we talked about affection, but I always preferred to play ten minutes here than in another team."