"Luckily for me, in my career, I managed to win more matches than I lost when I was facing difficult circumstances," Djokovic said.
"I got stronger because of the rivalries, particularly with Federer, Nadal and Murray," he added.
Djokovic, Federer, Nadal and Murray were dubbed the 'Big Four' as they won a combined 67 Grand Slam titles in an unprecedented period of dominance and were involved in some of the most memorable matches over the last two decades.
"Staying the course, staying patient and believing in the process and the journey," Djokovic said.
"Understanding what works for you best, what's your winning formula mentally and also physically and emotionally, and then sticking to it."