The Coronation Street and Red Dwarf star had been a favourite to win the ITV show in 2014 until he left the programme after learning his brother had passed away.
Appearing on ITV's This Morning on Friday, he said: "It's kind of bittersweet memories, really.
"You've got to hit the ground running when you join something like that… but you kind of save a sprint finish as well, and I never got to finish. I had to come back and organise funerals."
Craig, 52, said he was asked to return to the jungle, but work commitments meant he was unable to take part in the 2015 show.
"I've been favourite to win it for the last two years! Last year they asked me but I couldn't because I was making Red Dwarf," he said.
"They never asked this year…"
However, Craig seemed pretty up for the challenge if I'm A Celeb bosses did give him a call in the future: "Yeah [I'd do it] if they ask."
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