Rooney handed in a transfer request at Old Trafford in 2010 but has since described doing so as the "worst mistake of [his] career".
When asked if he would like to stay at the club forever, Rooney told Sky Sports News: "I hope so. I want to be successful here, I want to still be playing here in the next 10 years and be successful.
"You look at Giggsy and Paul Scholes, how successful they have been, they are an example to us all. That is the idea, that is the plan, and hopefully that will be the case."
Rooney joined United in 2004, scoring 182 goals in 368 games for the club during that time.