The World Cup winner was a teenager at Old Trafford when he came up against Scholes in first-team training.
He then honed his great playing alongside Pirlo at Italian giants Juventus.
"You learn a lot and you look at them," Pogba told the UTD Podcast.
"I really learned and have been learning. It was unbelievable for me, seeing them training like that, and it pushed me.
"Okay, I have to work hard and have a lot more to do. Pirlo and Scholes, those are midfielders who control the game, the players to look at, and I learned from them, a lot."
Speaking about the evolution of his game, Pogba added: "I started as a striker and then a no.10 and then a no.6.
"Thank God, I didn't go to centre-back! It was because I wanted to touch the ball too much.
"I was the striker and dropping too much, so one coach told me: 'Okay, play the no.10 and touch the ball more'. I still loved the ball too much and had too many touches so he put me at no.6."