Hughes was replaced by Roberto Mancini at the Etihad Stadium in 2009 after just over a year in charge of the Blues.
"The longer time has gone on, I think they look back and realise I did a decent job," Hughes told The Sentinel.
"There was a change of ownership, which wasn't easy. Also, the circumstances when I went were different to what they were portrayed to me.
"I don't hold any resentment about that. The fact was I drew too many games and gave them the opportunity to go in a different direction."
Stoke welcome Manchester City to the Britannia Stadium on Saturday.