The Spain international is said to have turned down Manchester United for the then-Premier League champions, costing £21.1million from Barcelona.
Pedro, 28, has since been linked with a move away after a disappointing debut season in England, especially after Chelsea missed out on Champions League qualification.
The Blues, who sacked manager Jose Mourinho in December after a shocking start to the campaign, finished the season 10th in the Premier League - 31 points behind champions Leicester.
But when asked last year's move, Pedro told the Evening Standard: "I am really happy here and have no regrets about the decision I made to join Chelsea."
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And added: "I am already looking forward to next season in terms of what we can achieve and putting the club back where it should be.
"Of course when you move away from your city there are certain things you will miss but, generally speaking, I am settled in this country."
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