Xavi made the announcement as Ter Stegen was working his way back from surgery.
He said: "He announced it and, knowing him from a few years ago, it tasted bad to me. We are responsible for these decisions.
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"We are still doing the same, he told us that this does not stop things. We know that you have to give your best and even more for him. He is a great coach and has brought us back to this point and he is fighting because we can compete. Unfortunately he leaves and it is difficult to accept it, both as a coach and as a friend."
On Hansi Flick, who is being linked with job, Ter Stegen said of his former Germany coach: "Hansi Flick is a great person, we value him very much, but it is not the day to talk about him, it is not the time, tomorrow we have the most important game (against Napoli) of the season."