"I spoke with the coach a couple of times over the summer and the feelings are good, very positive," Modric told Sky Sport, addressing his working relationship with Amorim before turning to his own future at the club.
"When I first arrived here I said I wanted to win with Milan, and that's my dream. I'd like to win trophies with Milan - we'll see if it's the Scudetto or another title - but that's my dream, that's why I came here.
"I didn't come just to enjoy myself and not worry about winning. That's my dream and my goal for next season."
On the decision to sign his renewal, the Croatian explained it had been on his mind for some time.
"Actually I always had it in my head throughout the season. I could have signed the contract, even the renewal, back in December. But I didn't want to do it because I wanted to listen to and feel my body, understand how I was doing, whether I still had the same hunger, the same desire and the same passion to keep playing football.
"Then, when I saw the desire of the club and everyone involved with the club to have me back, I didn't have many doubts. I like what the club is doing. Basically all of last year's players are still here, with some new arrivals who will be important for us. We were missing a few signings, and I think all three of the players you mentioned will bring even more quality and character to the team, helping us reach our goals."
Modric was also asked about Rafael Leao's future, with the Portuguese forward's situation still unresolved.
"I don't want to give him advice," Modric said. "Rafa is mature enough to know what's best for him. He knows how much the fans and the whole club love him. Maybe he hasn't had a great season - there have been a lot of injuries, he wasn't feeling well or strong enough.
"But Rafa is still a great player and, in my opinion, if he were to stay it would be fantastic for us, because when he's at his best he's one of the best in the world. I hope he can be well, find his football again and help us have a great season, because he's a great player. I'd love to see him here next year, but we'll see what happens. He and the club will decide the best solution, but as a player, of course you want Rafa in your team."
Speaking on the eve of AC Milan's pre-season derby with Inter in Perth, kicking off at 1pm Italian time, head coach Ruben Amorim also addressed Modric's role.
"He'll play tomorrow too. Everyone will play a part in the derby. We don't have much time to train, and with two matches close together, we have to train by playing. We'll try to manage the workload," Amorim said. "Luka is really humble and doesn't like all the attention he gets. He has huge experience, and I'll treat him like a normal player.
"He'll have to fight for his place, but of course he's a special player. We've done a lot to have him with us for at least one more season. I'm really pleased with him."