The actor bowed out from his part as tetraplegic Jackson Walsh on the ITV1 show in mid-2011. He also previously played Eli on Channel 4's Hollyoaks.
Silcock told The Sun: "Emmerdale really was the best job of my life. You do so much in such a short period of time that your improvement is really dramatic.
"I held on to the role for as long as possible, but my exit storyline - Jackson's controversial assisted suicide - was so good it was worth leaving for.
"I honestly couldn't rule out going back to soap in the future. But it would have to work for me. I wouldn't do it for the sake of it."
Silcock returns to screens next week as he appears as a soldier in BBC One's new daytime drama Privates.
He said: "It was definitely a different experience. Aside from playing a soldier on an Army camp, drama is so different to soap.
"On Emmerdale I used to get through 50 pages of script a day, so to suddenly change to six pages filmed over a 14-hour day was a real shock. Everything has to be perfect. But it is a fantastic drama and has been a real learning curve.
"I need to spend more time doing shows like this to learn as much as possible. There is scope for two more series of Privates, and I definitely would come back if they were commissioned and the team wanted me again."
Privates begins on Monday, January 7 at 2.15pm on BBC One.