The Belgium centre-back was rumoured to have experienced a bust-up with the Italian in the latter months of their time together at the Etihad Stadium.
That is in contrast to Kompany's warm relationship with Belgium boss Marc Wilmots at a time when they are preparing for Friday's World Cup qualifier against Serbia.
But Kompany claims there is no grudge with Mancini, who was sacked by City shortly after the FA Cup final defeat by Wigan Athletic and he is set to be replaced by Manuel Pellegrini.
Asked if his relationship with his ex-boss deteriorated in the end, Kompany said: "No, I think out of experience you have different managers and different styles.
"There is not one manager who can say he knows it all. Even the best managers in the world have deficiencies. You learn from every manager.
"I have learned a certain way from Wilmots, I have learned from Mancini and I learned from [former Manchester City boss] Mark Hughes. I have concentrated on the positives."
Kompany was publicly criticised by Mancini in March when he played for Belgium despite having been out injured for two months.
It was seen as another example of Mancini's prickly man-management style and Kompany does feel he was unfairly treated.
He said: "You are injured, you are out, you lose. There is nothing you can say that will make it good. That is why I did not say too much about it.
"I think the most important is that I feel good now. I have always been committed to my club. Everybody knows it over there."