The actor's character Carl King was killed off in the special 40th anniversary broadcast on Wednesday evening (October 17), after show bosses decided to write out the bad boy by giving him his comeuppance.
> 'Emmerdale's 40th anniversary - full coverage
Speaking on Daybreak this morning (October 19), Lister confirmed that he is glad Carl went out with a bang.
Lister commented: "It was the most incredible episode. After nine years of being in this show, to go out in that fashion was just amazing and it was an absolute highlight.
"It was the highlight of nine years. We all just were thrilled at how it went."
He continued: "It was a night of mixed emotions for me because I just absolutely loved my time there. I got to know people so well, I've made some amazing friends. It'll be really sad to say goodbye to it, but I'm excited for what's to come."
The 34-year-old explained that his Emmerdale colleagues gave him a good send-off following the live broadcast.
He said: "We went out partying. There was lots of silliness and I was inundated with gifts, and loads of people saying incredibly nice things to me. I was in bits by the end of the night."
While Emmerdale Live has been hailed as a success, Lister disclosed that there were some small mistakes which only the cast and crew would have noticed.
"There were little things that happened," he revealed. "I missed out a couple of lines, but if you didn't know it, then you thought it went swimmingly and it really did."
Lister will be appearing in pantomime this Christmas, having signed up for the role of Captain Hook in a production of Peter Pan at the Sunderland Empire.
Emmerdale continues tonight (October 19) at 7pm on ITV1.