After winning the FA Cup, Ten Hag has gone on holiday with his job at United still in doubt.
Pique, now owner of Andorra FC, told talkSPORT: "I think that the board of United really needs to understand what they want for the club in the next few years and really if they believe in Ten Hag or not.
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"They need to make the decision. Well, it's tough to say really (if he should leave or not) because it's true that they won the cup.
"At the same time, it's also true that they are not fighting for the Premier League which I think at some point, has to be one of the objectives of Manchester United."