The Germany international opted against staying on for Guardiola's three-year spell at the Allianz Arena, and instead joined Bayer Leverkusen in 2013.
After one season at the club, Can made the move to Liverpool, who paid £10m for the midfielder's services and he has since become a member of Jurgen Klopp's team.
When asked by German newspaper Sport1 if he regrets leaving Bayern, the midfielder said: "No, definitely not. Today you can see that it was the right decision.
"At that time it was like this: Pep Guardiola has come, and I have enjoyed a good preparation [pre-season] under him. Then we had a very, very honest conversation.
"I was very young and it was important for me to play a lot. He told me honestly: 'I cannot guarantee you now that you will play every week'.
"Then I saw the opportunity in Leverkusen. They also played in the Champions League. For many it was a step backwards. But for me it was a step forward because I always played in Leverkusen. Today you can see that it has paid off. I would not say that [Bayern made a mistake]. Whether they have made a mistake, they have to decide for themselves."
Can's future at Anfield remains up in the air as his current contract expires at the end of the season.