Neither started the Champions League defeat at Barcelona, with Kompany not even on the bench, leading to reports they are not in Guardiola's plans.
But the Spaniard said: "Vincent was not perfectly fit. Sergio, I said after the game, was a tactical decision.
"If Sergio decides to leave it will be his decision."
Guardiola confirmed Pablo Zabaleta and Bacary Sagna will both miss Sunday's Premier League game with Southampton at Etihad Stadium due to injury.
His decision to leave out Aguero and Kompany has been questioned, as has the performance of goalkeeper Claudio Bravo, who was sent off at the Nou Camp, and his high intensity, possession-based philosophy, which Guardiola has said repeatedly he will not change, has drawn criticism.
In a series of detailed answers, Guardiola explained:
"Vincent and Sergio's futures are at Manchester City. When he is fit, he is a real central defender. I like him. With respect to Aguero, it was a tactical decision. I wanted one more midfield player in the middle. I try to keep the ball because when you have it, Lionel Messi, Neymar and Luis Suarez don't.
"The next time before you give your opinion and decide Sergio is not in my plans you can call me. I appreciate him as a football player and as a man. When Sergio decides to leave Manchester City, it will be his decision.
"I saw the game this morning and until the first goal the game was under control. My mistake is my mistake. Aguero was my decision. We lost 4-0. I'm guilty. If we win in Barcelona, I am a genius."
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