The Portuguese manager has won league titles with Porto, Chelsea, Inter and Real Madrid, while Guardiola oversaw the most successful spell in Barcelona's history and has won two Bundesliga titles with Bayern so far, while both coaches have lifted the Champions League twice.
The pair have been seen as the two leading coaches in football at the moment, though Matthaus believes the Chelsea boss is more advanced.
"Pep is not the best coach in the world," he told La Gazzetta dello Sport. "I prefer Mourinho. He is the No.1, because Mourinho is more transparent and more direct than Guardiola.
"I've been told that from the players he has coached: He tells you everything to your face."
Guardiola's future at Bayern has become uncertain, with the coach tied to the club until 2016, though he admits he has not decided if he will stay.
Matthaus, though, believes the Spaniard is on his way out of the Allianz Arena in the near future and wants former Borussia Dortmund boss Jurgen Klopp to replace him.
"He will go," the former Bayern player said. "What sense does it make to wait until winter to renew your contract? Either you do it now or you're going.
"I have a lot of respect for Guardiola, he has won so much, but he must be clearer. Why don't you just sign a deal? Speak clearly!
"I have a German favourite to succeed him: Klopp. There are two foreign candidates: Mourinho, but he will not leave Chelsea, and Carlo Ancelotti."
The 54-year-old former Germany international also touched on Bayern's Mario Gotze and Schalke youngster Julian Draxler, both of whom he does not believe have the mentality required to reach the top level.
"They are good, young and technically sound, but they do not have the character of a champion.
"There is always something missing for them to be at 100 per cent. If you're Götze and not playing, then go to the coach and he puts you on. But he does not do that.
"The two are not guys like Carlos Tevez, Andrea Pirlo or Arturo Vidal."
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