The two recently faced-off in the Australian Open final where the Serbian defeated Murray 7-6, 6-7, 6-3, 6-0 amid allegations from some commentators that he over-played an injury to gain advantage over the Scot.
Murray told the BBC that he and Djokovic have no issues and feels that things have been blown out of proportion.
"I've seen Novak a few times since and I have absolutely no issues with Novak at all.
"Me saying I was distracted turned into this massive thing that me and Novak had some issue with each other, which is certainly not the case, and we never have in the 15 years that we've known each other. That was done in my eyes after the final," he added.
The Scot reached the semi-final by beating Feliciano Lopez for the tenth time with a one-sided 6-3 6-4 victory on Thursday.
Djokovic reached the semi-final after being handed a walkover after Australian Bernard Tomic pulled out with a back injury.
Murray told Sky Sports that he will have to play well against the world number one if he is to win.
"Against him you're going to have to a play high-quality match, you can't have any part of your game not working against him.
"He'll obviously be fresh with a couple of days' rest so it'll be a tough test but it's one I'm looking forward to," he added.