And Rossi's pit chief, Australian Jerry Burgess, said he could fix the Desmosedici's handling problems in 80 seconds.
The glib remarks came back to haunt the pair as Burgess worked all year to try to fix the Ducati and Rossi struggled just to compete for podiums.
"The reason this [2011] championship does taste sweet has a lot to do with Valentino and Jerry and the criticism they gave us that we couldn't develop a bike and didn't know what we were doing," Stoner told motorcyclenews.com.
"The whole thing with Valentino saying I hadn't been pushing hard enough was nothing new.
"At one stage it was the Ducati was the best bike on the grid and I had the best tyres and everything else.
"This talk followed me and plagued me throughout my time at Ducati until finally Valentino got on the bike and showed that nothing different happened to when [Marco] Melandri got on the bike or Nicky [Hayden] got on it."
Stoner said he was "100 per cent sure" that Rossi would not be any quicker on the bike than he had been.
"He complained about his shoulder injury at the start of the season but he got his best result with his shoulder injury," Stoner said.
"As soon as his shoulder injury went he got worse. The excuses didn't stop until the end of this season when they just had to start admitting that they didn't know what direction to go."
Jorge Lorenzo on a Yamaha was second quickest behind Stoner in the recent test in Malaysia, while Rossi languished in fifth place.
AAP