City face Real Madrid at the Coliseum in Los Angeles on Wednesday night having added two new players since the game against United in Houston.
Guardiola said: "We haven't changed too much about our approach to this season. Of course we are judged in terms of titles, but we did do good things last year.
"We've changed players because the squad was getting older. We changed not just for the short term but for the next four, five, six years."
On Mendy, Guardiola said: "Mendy is a physically strong player, can attack, young… and a fun guy, we’re so satisfied he decided to join us."
Danilo's versatility, meanwhile, was clearly a factor in the move for him, with Guardiola adding: "He can play right full back, and of course left and even can play in midfield. He can play in several positions - he's a player with potential and I’m grateful he’s here with us."