Mourinho left Real in 2013 amidst reports of a falling out with senior players at the Bernabeu.
And the Portuguese international claims that he is much happier under Carlo Ancelotti, after feeling marginalised by the Special One.
Pepe - who has been linked with Manchester United and Manchester City in recent time - says he was punished for speaking out in support of Iker Casillas but believes he is reaching his potential under Ancelotti.
He told Spanish radio station COPE: "I don’t miss Mourinho. It was a different era which is over.
"Ancelotti is not too lenient with us. He has a very distinguished curriculum and he demands a lot from us. Our training sessions under Ancelotti are much more intensive than they were under Mourinho.
"I thank God that I’ve a coach like him, he’s really helped me a lot. He tells me: ‘Pepe, with your quality, you’ve got to anticipate play. You’re fast and strong and you read the game well. You need to be focused’."
Ancelotti I m sorry we played so badly
I don’t miss Mourinho. It was a different era which is over.
Pepe
He added: "Casillas is the best goalkeeper in the world right now. It’s strange that someone like him gets whistled.
"Things were never clear when Mourinho was here; I paid the price for saying that he should be respected for what he has done for Spain. That was unfair.
"From one day to the next people forgot everything that Iker has won and everything he has given to football and that was quite painful for me to watch.
"When I came out and said that he deserves respect, it was taken as though I was his best friend and we were everyone else’s enemies.
"People got that completely wrong; Iker tolerated his situation as best as he could – he knows what it means to wear the Madrid shirt more than anyone of us and is always defending this club."
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