The 29-year-old has been the subject of reported interest from Premier League sides Manchester United and Manchester City amid rumours talks on a new deal had stalled.
But Iniesta - who won the FIFA World Cup with Spain in 2010 - refuted those claims and insisted he wanted to stay with the Spanish champions for the rest of his career.
Speaking to Onda Cero's 'First Touch' show, he said: "I've said many times, it is a matter of time on these situations.
"My desire is to be there and the club wants me hence the desire of both parties is clear.
"I feel I have many good years left to continue playing at the top level and that's what I want to do.
"I don't like to use the word negotiations in these cases. No situations are resolved in two or three months."
