The 29-year-old midfielder has been a key figure in Barca's success over the last decade, playing in the sides that won three Champions League titles and six Primera Division crowns.
Iniesta was also handed the UEFA Best Player in Europe award in 2012 and he is now hoping to have more success in Catalunya.
"I have said many times that my aim is to retire here and the club wants the same," he told a press conference. "We all want to reach an agreement.
"The news coming out and the things people and reporters say are not things I can control. But there is nothing strange or any war going on between Barca and Iniesta. The club wants me here and I want to stay here.
"It has nothing to do with money or whether I am the second, third, fourth or fifth best-paid player. What motivates me is knowing that I have some good years ahead in which I can keep improving and growing as a player."