The Spaniard rejects claims that he was ushered out of Stamford Bridge by manager Jose Mourinho to make way for his summer signings.
"Mourinho has always been good to me. The decision to leave was a personal one because I needed more, I needed to feel important," he told the Evening Standard.
"Mourinho and I have a good relationship and still today we continue to talk to each other."
Torres also dismissed reports linking him with a return to his former club Atletico Madrid, explaining that a move back to Spain was never an option.
"There wasn't a real option to return. They speculated with it and I didn't like that," he added.
"I've said it many times, I won't go to Atletico to retire. I will go if I have motivation to compete because the Atletico of today is very different than when I was there.
"I follow them every weekend. It [returning] is an option that isn't real."
Torres joined Milan on a two-year loan in the summer.