The Blues' attempts to take the 25-year-old on loan collapsed on transfer deadline day, with Cleverley completing a temporary switch to Aston Villa instead.
However, Martinez, who worked with the midfielder at Wigan Athletic, hinted that he could make another approach when the player's contract is due to expire next summer.
"I will always be interested in Tom in terms of the experiences that I had with him. That will never change," The Mirror quotes the Spanish coach as saying. "I know the player inside-out 10 ten months in football is an eternity. Anything could happen in that time."
Martinez also speculated that United were unwilling to loan Cleverley to Everton because the Blues finished above them in the Premier League last term.