The Colombian international departed the Spanish outfit to join Monaco last summer having scored 70 times in 91 games during two seasons in Madrid.
"I don't have any envy of Atletico. I feel mostly very happy for what is happening at the club. I made some great friendships and had some important moments while I was there," Falcao told Mundo Deportivo.
"It's life, in the life of a footballer you have changes and you can't have everything. I am very happy for what they are doing and I want the best for them."
Falcao is currently recovering from a long-term knee injury.