The long-running NBC sitcom came to an end in 2004, with the on-and-off couple of Ross (David Schwimmer) and Rachel (Jennifer Aniston) finally reuniting in the finale.
Speaking for a new special documentary for the upcoming Blu-ray collection of the comedy, Crane said that he originally planned a "vague" ending for the pair.
"At first it seems so expected [to have Ross and Rachel back together]," he said. "Maybe not, maybe we do some kind of vague 'we're not together and hope for the future' [ending].
"[We later thought] screw that. People have been waiting 10 years. Let's give them what they want, but let's do it really well."
He added that he was emotional upon seeing the final scene, saying: "Even knowing it was coming, the moment when she comes through the door, I'm a sucker for stuff like that."
The Friends Blu-ray box set collection will be released on November 12 in the UK, and a day later in the US.
Watch the scene in question involving Ross and Rachel below: