The pair were said to have previously had a frosty rapport, which had reportedly threatened to spill over while they were on international duty with Spain.
However, Ramos has now insisted that the pair have called a truce.
"Pique and me had differences but now the relationship is good. I'm not necessarily talking about friendship and nor is that vital. It's about professional commitment," he told The Guardian. "I don't go for a beer with him when he's in Madrid or if I'm in Barcelona. At Madrid it's perhaps harder because you practically live together.
"There's daily contact, and there may be more clashes but closer relationships too. With Spain, it's three or four times a year, or a month together [at a tournament]. You can overcome issues.
"I grabbed Pique and we spoke. 'Let's stop being little kids, let's stop being so unintelligent and unprofessional. Both of us. We're two great players but you're not going to have a good tournament without my help and I'm not going to have a good one without yours.'"
In the absence of Carles Puyol, the duo formed a centre-back partnership as Spain won the European Championships last year.