The Frenchman, 35, spent two more years at the Emirates than Stamford Bridge but had unfinished business at Chelsea.
Giroud told talkSPORT : “I had an amazing time at Arsenal but [at Chelsea] I can say even more because I won the big titles.
"It was emotionally difficult to leave when I left Montpellier and Arsenal, but even more tough [at Chelsea] because I didn't play the last three months so it was evidence for me to leave and go for another challenge.”
Giroud was a regular during his time at Arsenal, featuring in every single Premier League game during the 2015-16 campaign and making 36 starts two seasons earlier.
SIPA USA/PA Images)
He got the chance to leave his mark during a five-and-a-half-year spell in North London, scoring 105 goals in all competitions and winning three FA Cups.
And as Arsenal had slipped out of the top four and title contention by the time Giroud joined Chelsea in January 2018, there was little left for him to achieve at the Emirates.
But the former Montpellier star often played a supporting role at Stamford Bridge, starting just 33 Premier League games in three-and-a-half seasons.
After helping France lift the World Cup in 2018, Giroud deserved more of an opportunity – particularly with the lack of competition in the side.
Chelsea’s other striking options during this period were Alvaro Morata, Gonzalo Higuain, Tammy Abraham and Timo Werner – none of whom managed to fully convince in attack.
Giroud added: “I felt frustrated a little bit to not play the last three months because I contributed well to the Champions League success by finishing top scorer for the team.
“But what can I say? We were so successful and I am so pleased with the FA Cup, Europa League and Champions League. I scored a few important goals.
“It was tough to leave Chelsea and the Premier League but at the end of the day I think it was the best solution for me.”
Giroud completed a move to Milan during the summer and has since proven his worth, scoring twice in his first three league appearances before a bout of coronavirus and a back injury hampered his progress.
The Rossoneri have a realistic chance of winning Serie A this year and Giroud is confident he can lead their title charge.
He continued: “I started the season very well, I made a good pre-season with goals.
“My first game at the San Siro I scored a brace. I feel very good but after that I've been stopped in my good run because of Covid.
Did Olivier Giroud get a fair opportunity at Chelsea? Comment below
“I think started too early from Covid because I then got a back injury, something I've never had before.
“I felt a bit upset as the back is so important and you can't do anything without the back.
“Now I start to get better and am training with the team so now hopefully I'll be pain free and hopefully I'm in the squad for the weekend.”
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