The Italy international has been linked with a switch away from the Bianconeri in recent months, but the veteran midfielder insists that he remains focused on helping Juve in the coming years.
"We are close," he told Radio Dee Jay. "We are waiting only for the right moment to meet and to decide everything.
"I think I am able to for another few years at this level. When I don't see myself at the top, I'll be the first to know. But while I feel good, I'll continue playing."
Pirlo's existing deal expires in 2016. The 34-year-old, who turns 35 in May, is expected to participate in the Azzurri's World Cup campaign in Brazil this summer.