A friend of Broad was behind setting up of the parody Pietersen Twitter account 'KP Genius' which inflamed matters and forced the Nottinghamshire all-rounder to release a statement through the England and Wales Cricket Board denying any involvement.
Broad is the first senior player to comment publicly since Pietersen agreed to a four-month contract with England.
Asked to clarify his relations with Pietersen, Broad said: "I get on fine with Kev. Whenever we're on tour we have a meal and a beer together. We've played together six years non-stop, won fantastic games and trophies together. I've got no issues with Kev and I hope he'd have no issues with me.
"The important thing is playing well together for England and hopefully we can do that together in the future. It's in the management's hands at the moment but if and when they decide it's right to bring KP back into the changing room, he'll be welcome back. When KP wants to play for England, he's a huge asset to our team."
Pietersen will have face-to-face meetings with teammates as part of any 'reintegration' into the team, The Telegraph reports.
Broad said he has not had any contact since the Headingley Test, but is sure they will "catch up" and that there will be a lot of straight talking done within the team room.
"We pride ourselves on having an honest changing room and I think it's important, if and when he does come back, that it isn't just the senior players who make it fine but that every single individual has their say. The clearer the air, the better it will be." (ANI)