In one of his first post-finale interviews, Peter spoke with Rachel Lindsay and Becca Kufrin on a new episode of "Bachelor Happy Hour" about his mindset during the show and where he's at now. Becca and Rachel wanted to give Peter the opportunity to clear the air and open up about his own faults. When asked if he had any major regrets from the season, Peter said it was "tough to admit it or be okay with it because it's so personal."

His answer revolved around a personality trait and a core part of who he is: "being too empathetic" and "not putting my foot down in certain situations."

Peter admitted, "If I could’ve had a second chance, I would’ve tried a little harder. At the end of the day, I am who I am. It’s a regret, but it’s a regret I would continue to keep making because that’s just the person I am. Maybe this process wasn’t ideal for me being on this side as the Bachelor, but that’s who I am."

The 28-year-old then spoke about his relationships with Hannah Ann Sluss and Victoria Fuller and the criticism he faced for appearing indecisive. He knows he "got a lot of backlash" for keeping Victoria F. around, but he explained, "I’ve always been such a proponent for grace, and that’s so important to be able to give."

Peter added, "I made a ton of mistakes. I fess up to that. My biggest regret was putting Hannah Ann through what I put her through. That to me is something I will forever feel horrible about because I just care for her so much."

He also discussed his relationship with Hannah Ann and when he started having doubts about proposing. According to Peter, the thoughts lingered in his mind "before I even proposed."

He shared, "Looking back on it now, that should've been a clear sign to me. I did know that I loved Hannah Ann. I did know that I felt heartbreak in the past and I could get over it — I would get over it. Did I want to possibly let this temporary pain that I didn’t have time to process like a normal relationship and grieve it?"

Peter went on, "I made the decision to go forward and convince myself that I was ready to propose to Hannah Ann. I’m not proud of that, but that’s the truth. I kept holding onto the love that I had for her and the potential."

He admitted he felt a "self-imposed pressure" to propose to Hannah Ann, but he focused on the fact that he believed they had "all the potential in the world for an amazing relationship."

Peter said he will "never regret being the Bachelor" because he learned valuable life lessons that he'll carry for the rest of his life.

To hear Peter discuss his relationship with Kelley Flanagan, his breakup with Madison Prewett, and more, be sure to listen to the full "Bachelor Happy Hour" episode now! Don't forget to subscribe on Apple Podcasts, Spotify, or wherever you listen to podcasts.