Speaking to The Sun on Sunday, the Aaron Livesy actor admitted that he found intimate scenes awkward on the village soap.
"Romantic scenes are embarrassing, especially when you're only 17, but you just have to get on with it," he said.
"I didn't have to kiss anyone for the first six months but then it was Victoria Sugden [Isabel Hodgins] I kissed first. You just have to prepare yourself for it and forget people are watching.
"I won't miss kissing blokes. I haven't got a problem with it but I don't think I'll be reminiscing!"
The 21-year-old has had romantic scenes with Adam Thomas (Adam Barton), Marc Silcock (Jackson Walsh) and Ed Roberts (Lloyd Everitt).
Referring to real-life girlfriend and ex-Dales co-star Kirsty-Leigh Porter, Miller added: "Kirsty has never got jealous because I've been kissing lads for three years.
"Though that could all change now. But because she's an actress she's understanding."
Miller's final episode as Aaron Livesy airs on Thursday, April 5. He filmed his final scenes at the beginning of the month.
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Watch the Emmerdale cast and crew's special video farewell to Danny Miller below: