Villas-Boas (pictured) was sacked in March with his side fifth in the Premier League and on the brink of exit from the Champions League.
"I think they could have given me the opportunity to continue," Villas-Boas said. "But I am fully aware that changing (the manager) was the only way to make an immediate impact on the results."
Villas-Boas was appointed as Tottenham manager in July, but he said that he had dwelt a great deal on his departure from Stamford Bridge.
"What we have been doing at Tottenham with my staff is a reaction to the mistakes we made at Chelsea," he said. "We did not do everything wrong there, but we could have done better. It (being sacked) did not change the way I see football, but I recognise that I have thought a lot about it."