The 26-year-old is currently on loan at Schalke for the 2012-13 campaign and wants to play for the Blaugrana once the deal runs out next summer.
"It is my goal to return to Barcelona," he told OnsOranje.nl. "When I look back at my time at the club, I can only be positive about it.
"We always had so much fun on the training pitch. When I returned home after a practice session, I could hardly wait for the next day. You really notice that you are improving as a player.
Afellay joined Barcelona from PSV in January 2011.