City's midfield driving force, signed from Barcelona for £24million two years ago, has often been linked with other clubs but he says he has no intention of leaving the Etihad Stadium.
"I want to make history with this club, I want to end my career here," the 29-year-old told L'Equipe.
"I'm pretty sure and I hope that when I'm an old man, sat around, they will still talk about me here."
Those words have gone down well with Mancini, who rarely rests or substitutes the influential Ivorian.
When asked if that could mean a new contract for Toure, Mancini said: "I think so because Yaya for us is a very important player and for me, personally, he is one of the best players in Europe.
"In my life, I saw a lot of big players and I think Yaya is part of this."
Mancini accepts Toure has not been at his dynamic best in recent weeks, with the powerful runs that became his trademark during last season's Barclays Premier League title-winning campaign having been less frequent.
But injuries to other players have meant Toure having to compensate and Mancini has no concerns over his form.
Mancini said: "Probably because we had many injuries, many important players like David Silva.
"If we play David, Samir (Nasri) - Yaya will play better, this is sure. But also when Yaya is not 100 per cent he is important for us."
In his French interview, Toure also referred to some of the problems that can arise in the dressing room, including ego clashes.
"Of course there are rows at a big club, with all the people with different egos, including mine," he said. "But we will be okay. I am still confident."
Mancini also acknowledged such things can happen but denied they ever cause lasting problems.
He said: "I don't have any problem for this. I had, as a manager, a lot of players like this, top players and as a player (I had) the same.
"This is normal in a top squad where you have 40-50 players at this level. It is normal you can have this problem but we don't have any other problems."
One area that is concerning Mancini is his team's lack of goals this term.
After 10 games in the Premier League last season City had struck 36 times, but this campaign they have managed just half of that total after the same number of matches.
Striker Mario Balotelli is yet to fire, having not scored in the Premier League and missing a number of chances in Saturday's goalless draw at West Ham, but it is not a problem specific to the Italian.
Mancini said: "I am worried but if we think we are two points off the top of the table and we have this problem, the moment we solve this, we can go well.
"We missed four or five incredible chances against West Ham and the difference with last year is this - 36 goals against 18."