Vilanova, who was Guardiola's assistant at Barcelona, passed away on Friday after losing his long-running battle with throat cancer.
Guardiola was visibly emotional during his side's 5-2 Bundesliga win over Werder Bremen on Saturday and spoke of his deep sadness at the passing of the 45-year-old former Barca coach.
Speaking after the game, Guardiola told reporters: "Tito was more than a friend. It was difficult to focus on the game today.
"The sadness I feel for Tito will accompany me for my whole life.
"From here I want to send my deepest condolences to his family. We lived through a lot together.
"We won together, we lost together. This is difficult for me and for everyone.'
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