The Colombia star left the Vicente Calderon last summer for Stade Louis II and Diego Simeone's side have thrived without him, leading La Liga and reaching the semi-finals of the Champions League.
However, the former Porto man says he is happy for his old club and wants to see them prosper.
"I don't have any envy of Atletico," he told Mundo Deportivo.
"I feel mostly very happy for what is happening at the club. I made some great friendships and had some important moments while I was there.
"In the life of a footballer you have changes and you can't have everything. I'm very happy for what they are doing and I want the best for them."
Falcao is currently on the sidelines after suffering anterior cruciate ligament damage but is hoping to play a part in this summer's World Cup.