The striker continues to be linked with a move away this summer.
"After a month-and-a-half on holiday we were missing daily work," Icardi told Inter TV.
“There's a huge desire to start this new season where we'll be playing in the Champions League, which was our objective.
“It's part of our life to come here and work.
“This will be a different pre-season to the others I've done here, we'll prepare well for the Champions League but also the league.
“We need to help the newcomers settle and build a foundation like last year.
“I welcomed everyone today having already done it by social media or by phone, that was my way of making them understand that we're a big family.
“We've had a training session already and we want to continue our preparation."