Juve management are upset as Chiellini has only just returned from injury.
"We are always in close contact with all the club Coaches," Prandelli said.
"Our doctors are in contact with the club doctors two weeks before the announcement of the squad.
"If a player can be named on the bench for his club, it is my right to call him up as well.
"It is also our last friendly before the World Cup, so it is important to be here even if you are not playing."
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