The Brazil legend saw his fifth and final year at the Camp Nou hampered by injuries and speculation that he was enjoying a party lifestyle and not showing enough dedication.
At the time, it was reported that they were some of the reasons that made Guardiola sanction his departure to AC Milan.
Ronaldinho, who this week was announced as a Barcelona Ambassador, says those stories were not true.
“When Pep arrived in 2008 he asked to see me,” Ronaldinho told Mundo Deportivo.
“I met with him and he said he wanted me in the team, to stay [at the club] because he was counting on me.
“I appreciated it but I knew that my cycle at Barca had ended and I decided to leave.”
He added: “As well as asking me to stay at the club, I could never have any hard feelings for someone who is like family to me.
“I have a really good relationship with Pep due to my relationship with his brother Pere when I was with Nike.”