The Germany international only played 20 minutes of Bayern's 2-0 win over FC Nurnberg at the weekend, sparking rumours he may not fit into Guardiola's plans.
However, the 23-year-old is not worried, and says that not starting every game is to be expected, especially under new management.
Kroos told kicker-Sportmagazin: "It's pretty usual to not start every match. We have to use a rotation scheme.
"I have two years left on my contract and if the club wants to keep me, they have to get in touch with me about that.
"It's not me getting in touch with them. Everyone who knows football is aware that two years is no lifetime in football."