Terry made his long-awaited return to action in Saturday's FA Cup win over Huddersfield after two months out with a foot injury.
"I'm not one for moping around, but watching the lads play and being powerless to do anything about it is worse than anything.
"You miss the day-to-day involvement with the team. Patience isn't one of my best qualities.
"Now it's about getting back out there and making sure we push on and win things."
Terry admits he dreams of winning the UEFA Champions League as it is the one club trophy to elude him so far in his career.
"I don't want to look back when my playing career has ended and a Champions League medal isn't in my collection," added Terry.
"While winning the league title always takes priority, you always want the one thing you don't have."