Taylor continued initially with Allen's backroom team but his permanent appointment brought speculation in Kent that Hessenthaler might be set to return to work alongside his old friend as assistant manager.
However, it has been dismissed by the twice Gillingham boss who is now working for Burnley as a scout which he combines with his work for Soccer Elite in Kent.
He said: "I am happy with what I am doing. Peter is a good friend but John Schofield is there along with Carl Muggleton and Peter is happy with his staff and long may it continue.
"It's good for me to be away from the football club, as my boy (Jake) is there and I am looking to see if he can get a chance. He will have to earn that right but he's doing well at the moment.
"I will be back to watch but I am enjoying my work with Soccer Elite and Burnley."
Hessenthaler is something of a Gillingham legend. He played over 350 games for them after Tony Pulis paid Watford £235,000 for his services.
He also went on to manage them on two separate occasions. He replaced Taylor in June 2000 and was in charge for over four seasons in what is now the Championship before being replaced by Stan Ternent.
He returned for two more seasons in charge in 2010/11 and 2011/12 before having one more season as director of football.