Afellay is on a season-long loan at Schalke.
"It is my goal to return to Barcelona. When I look back at my time at the club, I can only be positive about it," Afellay told OnsOranje.nl.
"We always had so much fun on the training pitch. When I returned home after a practice session, I could hardly wait for the next day. You really notice that you are improving as a player.
"I still speak with guys like Andres Iniesta and Xavi on a regular basis. They are among the best players in the world. [Lionel] Messi is the best of the best.
"They are extremely committed. There's no other way, though, if you are to perform at such a high level."