A group of 100 people from the 900-strong community in Santo Andre protested angrily at a meeting in the village on Tuesday over the tight security surrounding Germany's luxury Campo Bahia hotel, which was built specially for the World Cup squad.
Stringent security checks have made life difficult for those living and working in the area and Bierhoff met residents at a local pub, which was cordoned off by police for the meeting.
"It seems to be that things haven't been working too well," admitted Bierhoff. "We have asked our head of security, Hendrik Grosse-Lefert, to make sure the necessary security passes are given out. We don't want the people living here to be disrupted."
A police unit has been assigned to protect the German team throughout their stay and Bierhoff admitted even they have been affected by the high-level of security.
"We had wanted to ride by bike to our training ground everyday, but unfortunately this is not possible, because the police don't allow it," Bierhoff added.
German Football Association (DFB) spokesman Jens Grittner said the measures, such as police escort to training, were a requirement imposed by FIFA and the Brazilian government.
Germany kick-off their World Cup campaign against Portugal in Salvador on Monday and also face Ghana and the United States in Group G.
Goalkeeper Manuel Neuer is expected to be fit to face Portugal in their opener having fully recovered from a shoulder injury, the team's goalkeeping coach Andreas Köpke confirmed on Wednesday.