United recorded their lowest finish in the top-flight since the formation of the Premier League as they placed in seventh.
However, Yorke is confident that new boss Louis van Gaal will get his team into shape, but is adamant that all of the players have to buy into his ambition.
Yorke told Sky Sports News: "The manager is making them realise you've either got to be on board and deliver what all Man United players have been able to do in the past, or you're out the door.
"For players who think otherwise, they've got their work cut out. I think the team is good enough to be competing for the Premier League and certainly in other competitions, like any other Manchester United team has done in the past."
The Red Devils face Swansea City in their season opener on August 16.