The Sauber driver was furious after a collision with his Williams rival put him out at Silverstone and called on the FIA to take action against the Venezuelan.
On the back of that outburst, Perez says he spoke to Maldonado at Hockenheim last week to try and draw a line under the matter.
"I have nothing against him," said Perez. "Many others say bad things about other drivers, but mainly, I was angry at the time.
"I think I was very frustrated that weekend because of what happened, first of all on Saturday with the wrong call that we did. Then I wanted to really have a good result for my team for all the people who were giving everything at the factory, working day and night for such a good car.
"The move that Pastor did at Silverstone was, for me, not right and that's why I was angry at him – I have nothing against him. We talked after Silverstone and we talked again at Hockenheim and all was cleared up."
Perez said that he expected there to be no similar problems if they ended up battling against for position.
"We discussed and cleared up everything, and now everything is sorted out between me and him," he explained. "We respect each other as much as we respect all the other drivers, and definitely we're not going to give more room than needed, but we'll give them room."