Manchester City defeated rivals Manchester United 3-0 at Old Trafford, with Haaland getting onto the scoresheet on two occasions.
The Norwegian was spotted at full time deep in conversation with boss Guardiola, appearing to talk about his second goal.
Haaland headed past Andre Onana towards the back post and appeared to maybe have jumped too early, although still netted.
It looked as though Guardiola was offering some advice on how to improve his technique, but Keane was not happy with what he saw.
Speaking on Sky Sports, he said: "It's all for show this, this is all for show, I'd have that chat in the dressing room, what's the big deal?"
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His co-pundit, Micah Richards, who did his best to try and interpret the conversation, said it was a great header.
However, Keane was still having none of it as he added: "It's a lovely header but you don't need to be on the pitch talking about it for five minutes. Just get down the tunnel and enjoy your victory."
Haaland was a superior figure on the pitch as City dominated away at their rivals, with United a far cry from their opponent's quality.
The 23-year-old scored his first of the game approaching the half-hour mark with a penalty after Rasmus Hojlund fouled Rodri.
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Scott McTominay was denied an equaliser by Ederson on the stroke of half-time before Andre Onana prevented a second from Haaland.
But early in the second half, the latter did find the back of the net once again as his towering header beat the goalkeeper.
Haaland then assisted Phil Foden for City's third and final goal of the afternoon to claim a comfortable derby win.