He says he can rekindle his relationship with his former Mercedes team-mate now that he's not competing in Formula One though.
Rosberg and Hamilton drove alongside one another for four seasons after the Brit joined the German constructors from McLaren.
And they were the top two drivers in the 2014, 2015 and 2016 campaigns, with Rosberg finally coming out on top before his shock retirement last year.
Rosberg and Hamilton's battle for supremacy turned sour despite them being Mercedes team-mates.
Lewis Hamilton shares touching moment with his mum after sealing fourth world title
Mon, October 30, 2017
Lewis Hamilton shared a touching moment with his mum after sealing fourth world title during the Mexican Grand Prix
James Moy Photography/PA Images
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We were very good friends in the past, but it can happen again in the future
Nico Rosberg on his relationship with Lewis Hamilton
But Rosberg believes he and Hamilton can get on together one day.
"We were very good friends in the past, but it can happen again in the future," Rosberg told German broadcaster ZDF.
"We're not rivals anymore, I'm completely out of it, so I don't see why we could not get along well after some time."
Rosberg admitted he's not heard from Hamilton this year, despite them being neighbours in Monaco.
Nico Rosberg says he and Lewis Hamilton can be friends in the future
Nico Rosberg and Lewis Hamilton battled it out for three titles during their joint-spell at Mercedes
"We're not at that point yet," he added.
However, Rosberg did hail the way Hamilton goes about his business on and off the track.
"He does it his way and I have a lot of respect for that, it's a great quality," Rosberg said.
"Lots of people don't like what he does and how he is, which is a matter of opinion, but I think it's cool that he goes his own way."