The statue of the ex-England and Stoke City goalkeeper was unveiled at the club's Britannia Stadium on Saturday.
Recalling 1970 and what has been dubbed the greatest save ever, Banks said: "I don't know where it's gone. I really thought it might have been a goal."
In 1969 the Brazilian legend scored twice against Banks in a friendly involving his side Santos, a year before the famous World Cup save.
Pele said: "We become good friends and close friends in the United States."
Banks said: "We've always had a very fond relationship with each other and we have great fond memories as well.
"The people of Stoke-on-Trent have been absolutely marvellous to myself and my family. I do really feel like an adopted son now."