Guardiola walked away last month having steered Bayern to three German league titles in three years and will coach Manchester City next season.
In his final season, the Bavarian giants became the first team to win four back-to-back Bundesliga titles, a run started by the Spaniard’s predecessor Jupp Heynckes in the 2012-13 season.
The 56-year-old has a better record in Europe than Guardiola, having won the Champions League three times with two different clubs, in 2003 and 2007 with AC Milan then 2014 with Real Madrid, but plans to ease himself into the Munich job.
“Pep did a great job in Munich. I do not want to change too much, but to build on his work,” Ancelotti told magazine Sport Bild.
“I’ve had a very good relationship with Pep Guardiola for a long time.
“I met him in Paris during his sabbatical (in the 2012-13 season after four years at Barcelona) and I think we will be talking to each other before the start of the season.”
One issue Ancelotti must resolve is what to do with Mario Goetze, currently on Euro 2016 duty with Germany.
The World Cup winner has endured three unhappy years in Munich, having been kept mainly on Bayern’s bench by Guardiola after failing to secure a regular starting berth.
Despite reports of a return to his ex-club Borussia Dortmund or a move to Liverpool to work again with Jurgen Klopp, Goetze has said he is looking forward to the new season and Bayern has ruled out selling the 23-year-old.
“I have spoken with Mario Goetze, he knows my opinion,” was all Ancelotti said on the matter with a year left on Goetze’s contract.