The Warrior actor stars as villain Bane opposite Bale's Batman in Christopher Nolan's upcoming sequel The Dark Knight Rises.
Asked if he had gotten the better of Bale yet during the shoot, Hardy told Digital Spy: "Christian Bale is not the kind of guy you wanna p*ss off! We negotiate these fight scenes. I can't answer that!"
Watch Tom Hardy talk to us about The Dark Knight Rises below:
Last month, footage emerged of Bane brawling with Batman on the set of the superhero movie.
Hardy has said that he thinks Bane is "f**king cool" and that he is "really excited to play him". He added that "it's such an honour to be asked to be in Batman, full stop".
Gary Oldman has claimed that nobody knows the ending of The Dark Knight Rises apart from director Nolan and himself.
Joseph Gordon-Levitt has also urged fans to avoid any spoilers for Nolan's third Batman film.
Watch the Dark Knight Rises teaser trailer below: