"I just really learned a lot about myself," the Pretty Little Liars actor, 28, said, with his partner by his side. "I had to push myself in how far I'd go. I can learn new things. I can always keep going."
Daugherty believes being on the show helped him in the long run with his career.
"It all ties into everything you do – the dancing, the acting," he said. "It's all performing, so we're growing every day."
The Ohio native, who said he "had a great time," during the evening's competition, told PEOPLE he doesn't know if he is surprised about his elimination, explaining, "We're all going to go home some day."
Upon hearing the news of what could be considered an unexpected departure, Murgatroyd gushed to the audience that her partner is "just an amazing guy," while thanking him "so much for everything."
Additional reporting by MICHELE STUEVEN