The Spain international revealed last week that he had spoken to Barcelona president Josep Maria Bartomeu in May about a move back to the Nou Camp.
But the 28-year-old, who joined Chelsea from Barcelona for £21.4m last summer, now expects to remain at Stamford Bridge.
He said: "If you ask me if I'd go back, the answer is clear because they're a great club with great players and fans who appreciate me.
"I've always said that I'd like to retire at Barca, but I know it's very difficult, almost impossible.
"Admittedly it seemed like I was going back this summer, but I have a contract with Chelsea. I've only been there for a year and it'd be very difficult for [a return] to happen."
When asked about the nature of his conversation with Bartomeu at the Copa deal Rey Final last month, where Barcelona beat Sevilla 2-0, Pedro claimed: "We talked about the team, not me.
"When I left, he told me that the doors of the club would always be open and I said that was very important for me because [Barca] are a club that I can feel. It's where I grew up and was happy."
Pedro was a product of Barcelona's Academy and won 20 major trophies before moving to west London.
