Iniesta has been strongly linked with a switch to the Chinese Super League, and Barca allegedly expect the playmaker to leave after over two decades at the club.
However, Ter Stegen has heaped praise on Iniesta, acknowledging that the 33-year-old's leadership qualities are an important part of the dressing room.
The 25-year-old is quoted by Sky Sports News as saying: "It's a personal decision and everyone hopes he stays at Barca because he's a great person. We know that we have to keep going as a team until the end of the season and we need him right now and for many more years.
"We are thinking about the present and he'll make the decision. I hope he stays but the only person that knows what to do is him. We know he's a great person who knows he is very important for the club and we'll try everything to convince him to stay.
"It's a personal decision and we're going to support him whatever he does. We love him as a captain."