Both Abidal and Vilanova missed portions of their La Liga-winning campaign last term as they underwent a liver transplant and treatment on throat cancer respectively.
Speaking to reporters at the Confederations Cup in Brazil, Iniesta revealed that it was difficult to adjust to the news that both were undergoing serious operations.
"It affects you when you see people like [Tito Vilanova and Eric Abidal] who are not superhuman," Iniesta told Mundo Deportivo.
"Those things hurt a lot. Being without your coach for so many months is hard. The idea for me is to continue at Barcelona and retire there."
Spain take on Brazil in the final of the Confederations Cup this evening.