The Cupertino firm is involved in drawn-out legal disputes with its rival in numerous territories, but Cook is said to have advised against courtroom action.
Steve Jobs's successor was wary of suing Samsung because of the Korean manufacturer's role providing components for iPhone and iPad devices, according to Reuters.
Apple and Samsung developed a close working relationship in 2005 when the two companies entered a flash memories deal in 2005, but things began to sour when Samsung released the Galaxy S smartphone two years later.
Cook and Jobs complained to Samsung over the device's resemblance to the Apple iPhone and took legal action the following year when the Korean firm released the Galaxy Tab.
Apple was awarded $1.05 billion in damages after successfully suing Samsung in a US court, but similar disputes between the tech giants in other territories have resulted in different outcomes.
With its relationship with Samsung strained, Apple is reportedly seeking other component suppliers to reduce its dependency on Samsung parts.