The Argentine striker has been heavily linked with a move to the Premier League in recent times.
Reports last week suggested that talks over a new contract at the San Siro had hit a stumbling block.
And even though Icardi has three years remaining on his current deal, he says he will depart if Inter decide it's the best thing for all involved.
He told CNN: "I still have three years, and if we can find an agreement then everyone's going to be happy.
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Mauro Icardi is in talks over a new contract at Inter Milan
If other clubs want me, they have to talk about it with Inter. If the club wants to sell me, I'll pack my bags and go.
Mauro Icardi
"If other clubs want me, they have to talk about it with Inter. If the club wants to sell me, I'll pack my bags and go.
"Otherwise, I'll stay in Milan, as I really like it here and I'm happy. My family feels at home here.
"Regarding my pay, my salary, that I don't 'earn a lot', these are things that are a result of two years ago when I came to Inter.
"To me, it was a good contract for having arrived at Inter. I signed the contract with the excitement and desire to prove my worth and be an important player for Inter.
"Now, after two years, I still have this contract that people are talking about, but my agents are speaking to the club, they're coming to an agreement, they're seeing how to fix this situation and when it happens, I'll sign the renewal and, I'm sure, I'll be happy and Inter will be happy if they want me to stay here."
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