It was revealed on Saturday's show (November 24) that the pair would take part in the Panic Rooms trial to keep their place in the jungle after receiving the fewest votes from the public.
Baker and Bristow were told that they could pick one female campmate to be their panic partner in the trial. Baker chose to take Charlie Brooks with him as his partner, while Bristow chose Rosemary Shrager.
Asked by Ant and Dec to explain his decision, Bristow revealed that he chose Shrager as "the first night here she sat in a hut for the night with bugs, so that was the ploy behind choosing Rosemary".
Meanwhile, former Doctor Who star Baker admitted that Brooks is a "feisty little thing" and continued to explain that she was his "only and best choice".
Ant and Dec explained that the two teams would enter identical panic rooms.
They said: "There are two panic rooms and each is identical. One wall in each room is covered in hell holes - each of these holes contains stars as well as a few surprises. Inside each room is a collection box and you will have five minutes to find as many stars as you can and deposit them in a box."
While these stars would count towards their survival, it was also revealed that there were eight additional large stars in the rooms that would count towards dinners. The panic rooms were filled with creatures including snakes, lizards, crabs and cockroaches.
Brooks and Shrager went first and were observed by Baker and Bristow. Both women screamed as they put their hands into the holes.
Baker and Bristow were not as vocal during the task, despite Bristow being bitten by a snake.
He said: "He doesn't like me and he's had a wee in here."
At the end of the task, Bristow said of Shrager's performance: "Rosemary, to the day I die, I will remember that. I have been watching a screaming lunatic."
Baker was also nipped several times by a crab during the task, saying: "Ow! Get off, he's fighting for his territory, it was huge and every time I went in, it attacked me."
He also picked up a scorpion and was bitten several times by what he described as a 'prickly snake'. "The crab kept coming at me", he said.
The two teams won a total of five dinners for camp, but the survival stars were weighed live on tonight's (November 25) show.
It was revealed that Baker had lost the trial after winning 80 grams of stars in comparison to Bristow's 260 grams, meaning that Baker had to leave the jungle for good.