The Belgian has returned to Inter on a season-long loan, just one year after swapping San Siro for Stamford Bridge.
Asked what convinced him to return, Lukaku said: "The affection of the fans and my team-mates, but also the opportunity to work with the coach. I stayed in contact with him all last season. I think the coach is doing well with the team. I want to contribute and do good for this club.
"It's like coming home. I think my family and I had a really good time in Milan thanks to the people, the fans and my team-mates. From the first day when I arrived here everyone helped me a lot, I'm really happy.
"I didn't even leave my home when I went to England, which shows how happy I am to be back here. Now I just want to see the guys on the pitch."
He added: "Inter have given me so much and I hope now to do even better than before."