"We get on. It was made worse than it actually was. He was a father figure for me for so many years," said Beckham in an interview to appear on Friday's Graham Norton Show.
"He brought me to the club that I loved as a kid and I was successful at the club, so he gave me everything in my career.
"He will always be a man that I look up to because he gave me the dream of playing for Man United.
"The was no olive branch. We just bumped into each other at certain occasions after I left Manchester United.
"We never discussed the falling out. There were things that upset me and there were definitely things that upset him about me, but I have so much respect for him as a manager and as a man and he gave me my dream."