"No, not at all ... it wasn't planned," Arendse tells KickOff.com. "It's just that he was closest to me when the final whistle blew and I went to shake his hand.
"I thought to myself I might as well just ask him for his jersey. That's when Messi replied, 'Well done, no, sure'."
The former Santos player, who recently won his third Absa Premiership title with the Brazilians, says it was an amazing feeling to rub shoulders with the best players in the world at FNB Stadium.
"It was a joyful and exciting experience for me as a player you know. I never really felt intimidated with the superstars on the pitch. We are also champions and we can hold our own," says the experienced 33-year-old.
Sundowns now shift their focus to the CAF Champions League where they will do battle with Horoya AC from Guinea on Tuesday.
"We have our eyes firmly set on the Champions League title and that is our main focus now. We know what's expected and we can top it off with a good performance to progress in the Champions League," Arendse concludes.