José Mourinho has admitted to regrets over “episodes and words” involving him and Arsène Wenger and Manchester United’s manager believes his opposite number at Arsenal may feel the same way.

The managers go head to head at Old Trafford on Sunday, possibly for the final time with Wenger standing down at the end of the season. Mourinho, while at Chelsea, branded Wenger a “voyeur” and a “specialist in failure” and the pair tussled on the touchline in October 2014 at Stamford Bridge. Wenger’s responses have included describing Mourinho as “stupid” and “disconnected with reality”.

Asked about the fractious relationship, Mourinho said: “There are little things where it would be obviously better without them, some gestures, some words would be better without it. I feel better now without it, no doubts about it.

“ But when I arrived in England in 2004, Arsenal were the champions and had been the famous Invincibles [the previous season]. And for the next couple of years [the rivalry] was with them. Dennis Bergkamp, Thierry Henry, Sol Campbell, an amazing team, so thank you very much for that – they pushed us to the limits.

“We had big matches, big fights, so thank you so much for that. Regrets? Little negative episodes, yes, I do. And probably he also does.”

Mourinho said Wenger should be given a “not bad” reception on Sunday. “I always feel the biggest rivals are our biggest friends because they’re the ones that pushed us to the limit,” he said. “I think Manchester United fans know that until 2004 for about a decade [the rivalry] was between Manchester United and Arsenal, was between Sir Alex Ferguson and Mr Wenger.

“These great teams Arsenal had fought shoulder-to-shoulder with Manchester United, made Manchester United better and better. I hope he has a good reaction, if not good, not bad at all. And from us, the club, he is going to feel the respect we have.”

Mourinho, asked whether David de Gea might leave in the summer,was emphatic. “No chance,” he said. He was also clear that he expects more next season from Alexis Sánchez, who will face Arsenal for the first time since he left for United in January. “After pre-season, after being comfortable and adapted, he’s going to be great for us,” Mourinho said.

Wenger was in good spirits when asked whether he would say goodbye to Mourinho tomorrow. “I will say goodbye to everybody,” he said with a chuckle. “In France we say ‘au revoir’, which means we might see you again.

With his time as Arsenal’s manager drawing to a close, Wenger was determined to keep the tone light during the discussion about his United counterpart. “I respect him a lot of course. You should give me a little bit of peace for my final weeks. Don’t push me into a final confrontation. I want to go peacefully and Mourinho as well, he’s a great manager.”

“I got always a very good reception,” he said. “I don’t know what kind of reception I will get. I will be focused on winning the game. There have been some great battles in 22 years. If I get a good reception I will take it.”

Wenger, who is hopeful Henrikh Mkhitaryan will be fit to face his former side after a knee injury, looks likely to rest players with Thursday’s Europa League semi-final second leg at Atlético Madrid in mind.