Kubiak took over the Broncos last month after the team and John Fox parted ways and said earlier this week that he expects Manning to be back in 2015.
Manning reportedly has told the Broncos that he intends to return for another season. Manning is due $19 million, and that money will be guaranteed at the beginning of the league year.
"No doubt I want him to be (our quarterback). I feel good about where we are right now. It's just time," Kubiak said, according to the Denver Post.
Manning, 38, played the last month of the season with a quadriceps injury and is only four seasons removed from a fourth neck surgery.
Kubiak told the media at the NFL combine that Manning had two "encouraging" evaluations from trainers regarding his health.
Manning, who will turn 39 next month, completed 66 percent of his passes for 4,727 yards with 39 touchdowns and 15 interceptions last season for the Broncos, who were eliminated at home in the divisional round by the Indianapolis Colts.
- Scooby Axson