Recent reports have suggested that the duo do not see eye to eye, with the Spanish centre-back calling for "decisions to be taken" following their exit from the Champions League.
"I just said that some decisions should be taken, but I was talking along general lines," ESPN quotes Pique as saying.
"On a personal level for each individual so we could take a step forward and try and be better and work more so that next season we can try and reach Bayern's level. The tie showed they are a step ahead of us.
"I have a phenomenal relationship with Tito. He was my coach when I was 15 years old. I appreciate him a lot and have the highest respect for him as a coach."
Barcelona are currently 11 points clear at the top of the table in La Liga with four rounds of matches remaining.