The 29-year-old's current agreement with the Catalan outfit will come to an end in 2015, with some reports suggesting that he was considering seeking pastures new.
However, the Spanish international has insisted that he has no intention of leaving the club that he has been with since 1996.
"I've said on many occasions that it is not a question of time or situations. My wish is to stay there which is something the club wants, so the desire of both parties is clear," he told Al Primer Toque.
"I've got nothing else in my head. If there was anything, then the club would already know and so would the people who need to know. I've got some years left to continue playing at the top level and that's what I want to do."
Iniesta has made more than 450 first-team appearances for Barcelona.