Hardaway, who has struggled with injury in the past five years, has not played in the NBA since November 2005 with the New York Knicks but believes he is now more than ready for a competitive comeback.
"I definitely have competitive juices flowing," said the 36-year-old. "The number one point for me coming back is to win a championship.
"I still love this game. It's not about the money, It's not about anything other than loving the game and wanting to win a ring and I'm just thankful that I'm able to play in an organisation like the Miami Heat."
Hardaway, who also considered the Los Angeles Lakers and Boston Celtics as possible comeback destinations, had knee surgery in March 2006 to remove a bone spur from behind his knee.
"It's been such a hard road to get to this point," he continued. "I had the same knee injury for so long … I just kept pushing.
"When it comes to the situation I'm in now, I'm so thankful and blessed to be allowed to come to the Heat organisation."