Araujo was replaced at the interval of his side's 2-1 victory, with Inigo Martinez entering the field, while Pedri was withdrawn in the 75th minute for Fermin Lopez.
There had been concerns over the fitness of the duo ahead of next week's Champions League last-16 first leg with Napoli, but Xavi has said that neither player is injured.
"There were no injuries today. Neither Araujo nor Pedri are injured. They're fine," Xavi told reporters following the narrow success over Celta in Spain's top flight.
"Football is unfair in general. Celta made a great effort without any reward to show from it. However, if we didn't win today it would also be unfair. I really think we deserved the three points."
Iago Aspas cancelled out an opener from Robert Lewandowski to leave the two teams level in the early stages of the second half in Vigo, but Lewandowski's second won it for the champions late on.
"Today, we competed much better than we did against Granada. We played well, without suffering in defense, but we did not create enough chances. We did not do well in the final third," Xavi added.
"According to Big Data, we should be in 1st place considering the amount of chances we create on average. We got penalized by our defensive mistake yet again."
Xavi also said that he has "good sensations" ahead of the Napoli clash, with Barcelona looking for a positive result to take into the second leg of their last-16 tie.
"I have good sensations ahead of Wednesday's match. The teams's attitude was very good. This win is great for our confidence. We did more good things than bad things."
Xavi is standing down as head coach this summer, but he is still looking to deliver two trophies, and Saturday's win over Celta moved them to within seven points of La Liga leaders Real Madrid.
Napoli have struggled to match their heroics from last season, meanwhile, with the Blues currently sitting down in ninth position in the Serie A table.
As a result, despite Barcelona's issues this season, they will fancy their chances of navigating their way through the two legs to book a spot in the quarter-finals of the competition.