His character Aaron Livesy will leave the village in an emotional double-bill next Thursday.
However the actor, who announced his decision to depart ITV's rural serial in November, told What's on TV that Aaron may reappear in Emmerdale.
"When I told them at Emmerdale, they were so supportive of me and said they would leave the door open," he explained. "I am really going to miss this place."
Meanwhile, Miller admitted that he is worried about whether he will be able to pursue other acting roles, adding: "I am really nervous about getting out in the big wide world.
"When I made the decision to go, I hadn't really thought about what would happen afterwards.
"I don't have anything lined up and it's really quite daunting. It was such a hard decision to make."
> Emmerdale's departing star Danny MIller: 'Gavin Blyth nurtured me'
> Danny Miller: 'I won't miss Aaron's gay kisses'
Watch the Emmerdale cast and crew's special video farewell to Danny Miller below: