Former Conservative Prime Minister John Major told Sky News presenter Adam Boulton for his new documentary Feral Beasts that politicians should be "always open" to the media.
"I never sought to dodge" the "essential interviews" during his time in Number 10, Mr Cameron added, perhaps in a dig at Mr Johnson.
"Mr Cameron embraced the control part of New Labour, not the openness," Boulton said on Tuesday.
"He avoided press conferences and interviews. "His premiership will be known for two referendums: Scottish independence and EU membership."
Boris Johnson's government recorded a three-minute statement to the public when the UK officially exited the EU in January 2020. Instead of a national broadcaster covering speeches, that video was made.
Several UK news outlets ignored the PM's official social media clip.
Downing Street also disseminated the prime minister's video message on Tuesday pledging no more coronavirus restrictions in England before Christmas.
In February 2020, a media walkout occurred after Downing Street asked selected journalists from major UK news outlets to leave before a briefing on the prime minister's Brexit preparations.
In the same month, ministers did not appear on Today on BBC Radio 4.
"Well, Boris has always been able to get away with things that we mortals can't seem to get away with," Mr Cameron responded when Boulton told him his request for an official Number 10 photographer had been denied.
"But, see, I think you should avoid the media." Keep having… Press conferences, interviews, and other media activities are vital.
"I always have. Yes, press briefings were rare, but I never shied away from appearing on Today or your show (All Out Politics).
"We were always eager to interact and answer inquiries."
"The media has an immensely essential role," said Mr Cameron.
The prime leader should always be available to the media, Mr Cameron said, but not every day since a country must be ran.
Notable interviews - such as the BBC Sunday morning programme, Today programme, Sky News debates - are crucial and I never sought to avoid them.
"I believe there has been an arms race," Mr Cameron added.
In order to get that magic moment, politicians have used special consultants and spin doctors, and the media have used aggressive gotcha interviews.
"I think we need to maintain a distant and sometimes combative connection while acknowledging your real concerns and our responsibility to explain our actions.
"Can we find some room for those things to coexist?"