Barca have cleared Araujo to step away from football due to "mental health" issues.
Pique insists he understands Araujo's decision and told Sport: "Mental health needs to be taken care of. It's obvious, and not just in the world of football or sports.
"We also saw the case of Andreu Buenafuente, who had to stop because of this. The topic is being talked about more and more, and I think it's a good thing that people don't really realise.
"Sport has always been behind on all this. I remember the era of racism, of violence in stadiums... At the fan level, it's as if, in football, we were always the last to adapt to these things. It's time for there to be respect for professionals, it's time to stop being a world where everything is permitted and where everyone can do and insult as they please.
"I remember that, in my time, especially during the independence years, when I was on the national team, I experienced all this and you have to create a shell for yourself. And there comes a point, which is not healthy, when you no longer care what people say or think, but it's the only way to preserve your mental health and feel emotionally well."
He then concluded: "Others may have more difficulty or don't want to adopt the measures I've taken. In this case, Ronald (Araujo) raised his hand and said 'stop,' and I think the club is doing very well to listen to him and give him the time he needs, and I think all football fans in Spain should think about it a little."