Both sides are the subject of a Football Association investigation after a tussle broke out in the vicinity of the tunnel area, rumoured to have been triggered by City's allegedly exuberant celebrations.
Citizens coach Mikel Arteta suffered a facial injury in the scuffle that ensued, while Jose Mourinho is said to have been hit by a milk carton and several members of both playing squads also came face to face.
Speaking about the incident for the first time, however, Guardiola attempted to play down the melee and insists that he has "huge respect" for the losing side.
"Everybody fought hard to win. We could have scored more goals. After the game we celebrated with the fans and went to the changing room and celebrated the win," he told reporters.
"We try to celebrate, because when we lose we try to accept the defeat, but when we win we celebrate. We won a derby, what do people expect we don't celebrate? We celebrate in the right moments, for example we celebrated in Napoli, you have to do that, but inside [the dressing room].
"I encouraged the players to celebrate victory, but of course inside the locker room and with huge respect for our opponents, not just Manchester United. After what happened, hopefully it will not happen again."
City's victory at Old Trafford was their 14th in a row in the Premier League, moving them 11 points clear of their rivals.