Khumalo shocked many when he left the Glamour Boys' backroom staff to take up a technical director role with Baroka in 2017/18.
Speculative reports have suggested Chiefs may try to lure him back, having promised an overhaul of their first team set-up following three straight years without silverware under recently departed coach Steve Komphela.
Khumalo, however, says there has not been an approach from his ex-employers and remains committed to his job in Limpopo.
"No one has called me [Chiefs]. I respect the job Baroka gave me," says Khumalo, who ended the season as caretaker coach of nearly-relegated Bakgaga.
"If 'Bra K' [Motaung] calls, I mean that's my father, I will go and listen to what he says. I can't keep a blind eye because that man gave me a platform.
"At the end of the day if he calls I will go and listen to what he has to say."
Patrick Mabedi steered Chiefs to a third-place finish in the league and qualification for the CAF Confederation Cup in an interim capacity following the resignation of Komphela on April 21.