The two have met six times in 2012, claiming three victories each going into their ATP World Tour Finals meeting on Wednesday.
Despite their epic rivalry, the Serb says that he gets along very well with the Brit off the court.
"When I play Andy I need to be ready for long rallies and a physically demanding match," said Djokovic.
"We are big rivals but also very fair to each other.
"We have a very friendly relationship. I'm very glad to keep that relationship with Andy, somebody that I've known for a very long time."
Murray beat Djokovic in the summer to claim the US Open.