Herrera left Old Trafford after five years to sign for Paris Saint-Germain as a free agent after contract talks with United broke down.
The midfielder insists he is happy in the French capital but admits he would have liked to stay in Manchester longer.
"When I look back a year ago, my intention was not to leave Manchester United," Herrera told ESPN.
"I had some different opinions with the board but I respect them. I respect them a lot. They do things for Manchester United and I disagree with the people who say they don't. They really suffer when things don't go well and they really fight to bring Manchester United back.
"I disagreed with some of the decisions they made but this happens in football. In happens in every company.
"Apart from that, I respect them. I had a great relationship with Ed Woodward and with the owners when they came so I have nothing to complain about with them."
PSG have been crowned champions of Ligue 1 in Herrera's first year at the club after the French government suspended all sporting events in the country until September because of the coronavirus pandemic.
It is the first league title of Herrera's career after spells at Real Zaragoza, Athletic Bilbao and United but the 30-year-old, who has made 18 appearances in all competitions this season, said he has not celebrated the triumph as he would have done normally.
"To be honest, I didn't celebrate it," Herrera said. "I love football but I love to play football and win trophies on the pitch.
"Of course, it's good to have one more title but it's not the same. I wanted to celebrate with our fans and my teammates.
"I haven't won a league title since I was a professional because in Manchester we had the possibility to win some trophies but not the Premier League, so I was looking forward to it but we couldn't do it on the pitch.
"I think it's well deserved because we were 12 points ahead of Marseille but it is what it is.
"I hope we can fight for the cup titles that we still have to play on the pitch with fans in the stadium and let's see if we can also fight for the Champions League. To be honest, it's quite sad to win my first league title like this."