Whilst Mercedes' inability to mount a competitive challenge cooled the rivalry somewhat last season, a collision between the pair at the São Paulo Grand Prix reignited the spark.
But adamant there is no issue, Verstappen said: "I don't have a problem with anyone."
A lot of respect
Referring to the dinner held in Abu Dhabi last year to send off now-retired Sebastian Vettel, Verstappen added: "We had dinner together in Abu Dhabi and we had a lot of fun and a good time together, so everything is fine in that regard.
"Of course, we want to beat everyone, including Lewis.
"But we are drivers, so that's normal. [We have] a lot of respect for each other and each other's performance."