Steer has joined the League One club on a three-month deal and made his debut in a 2-1 friendly defeat to Rotherham on Monday.
"First of all I'm really pleased to be here at Doncaster," Steer told the Birmingham Mail.
"I went to train with Villa and then the manager said "you're going to Doncaster for three months", so I'm really glad to be here and want to get going.
"I was over the moon, Doncaster are a great club and I'm looking forward to pushing on this season.
"Obviously I've got Shay and Brad above me at Villa Park and it is great to work with them every day and I've learnt so much from them.
"Hopefully I can get a few games in here and then go back and push them as well.
"Speaking to the gaffer Paul Dickov, he seems like a really good guy and I'm looking forward to working with him and also Paul Gerrard, the goalkeeping coach, who I grew up watching on TV, so I can't wait and just want to get going."
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