Speaking to an audience at the Southbank Centre in London, Sir Roger, who is the longest serving actor to play the MI6 agent, denied he had received any offers.
But he did not rule out appearing in a future Bond film in a cameo role, saying it would give him the opportunity to “expand the family coffers”.
Sir Roger, 89, paid tribute to Daniel Craig and Sean Connery who he described as the best actors to have filled the tuxedo of the world’s most celebrated spy.
He told the packed auditorium: “I think that Sean was obviously the great Bond.
“He was obviously the right person, he brought the right personality to the performance, otherwise Bond would not have gone on past the first six that he did. He was a tremendous Bond.
“Today, I think we’re very lucky to have Daniel Craig because he is quite extraordinary, I always say that Sean looked like a killer – but Daniel Craig would finish it off.
“When I saw Casino Royale, I thought that Daniel Craig did more action in the first seven minutes than I did in seven movies.”
Sir Roger began his talk by marching on the stage holding a large plastic poppy which he said was a protest against Fifa’s decision to ban players from having the commemorative symbol on their shirts.
He then took a seat on a chair boasting a cushion with the British flag on it and announced: “Nicola Sturgeon, eat your heart out.”
Sir Roger went through his career and his time working alongside some of the biggest names in cinema.
He said that though he had played one of the most coveted roles in the film industry, there was one character he wished he could have played – Lawrence of Arabia.
He said: “I remember Bob Baker and I going to see Lawrence of Arabia and coming out both being very depressed and saying ‘we might as well give up the business’, because they had made the best movie that had ever been made.”