The 34-year-old bade an emotional farewell to Barca fans earlier this month following a two-decade association with the Catalan giants.
Madrid learned of Iniesta's commitment to Barcelona the hard way, as the Spain international - now plying his trade for Japanese side Vissel Kobe - claims that Los Blancos have circled in the past to no avail.
"There have been some moments when Madrid has felt around me, there have never been negotiations beyond the fact that I wanted to be there," he told reporters.
"But, since I stepped into La Masia, I was going to triumph at Barcelona. The beginning was not easy. But I always preferred to play ten minutes here than for another team."
Iniesta is reportedly earning £22.4million a year in the J-League.