The 19-year-old reportedly turned down an offer from Real Madrid to make his move to Man United from Lille happen last summer.
Yoro was a rare bright spark for United last season, making 33 appearances across all competitions for Ruben Amorim after suffering a major injury just days after he signed.
After featuring in the starting lineup in all three matches during their pre-season tour of America, Yoro is optimistic he and his teammates can turn things around.
Speaking to reporters, Yoro said: "There are a lot of people that want us to fail and we know that. But there are also a lot of people that want us to do it, to do great things.
“We just focus on the fans, you know. We don't care about what they say outside, about the media. Everyone said bulls**t about us last year. But I understand because we didn’t do really well."