In an interview with Argentina's La Nacion he said tolerance and inclusion were vital for the Church to flourish.
Speaking on the issues for the first time since the family synod rejected his proposals for a more welcoming atmosphere to gay and divorced people he said: "Resistance is now evident and that is a good sign for me.
"[There isn't] hidden mumbling when there is disagreement... It's healthy to get things out into the open."
The Holy Father said the synod discussed how the Church can support "a family that has a homosexual son or daughter [and] how can they raise him or her."
On divorced Catholics he said: "It seems they are excommunicated de facto."
He said the Church should "open the doors a little bit more" and let divorcees continue to be readers or God parents.