Haaland scored five goals in the 6-2 Fifth Round win.
Guardiola said: "Erling needs a guy with the vision, quality, generosity.
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"Kevin is a less selfish player, if he cannot score another one he can do it (assist). Kevin needs the movement for Erling. Kevin with Erling was great but everyone makes their contributions."
"In this up and downs, the transitions when you can have Kevin and Erling to run it's difficult to control.
"They have courage to do it, they (Luton) got a result, beat Brighton here. Always is difficult. We read it really well and they do it. What can I say?"