Brendan from The Bachelorette season 16 is opening up about why he decided to end his relationship with Tayshia Adams.

Fans first met Brendan Morais when he stepped out of the limo to meet the first Bachelorette, Clare Crawley. After Clare left the show to be with Dale Moss, Tayshia replaced her and began her own journey on the show. Tayshia and Brendan had a very strong connection from the beginning, so it was difficult for fans to watch him leave so abruptly.

Related: The Bachelorette: Did Tayshia Adams End Up With Zac Clark? (Spoilers!)

On the most recent episode of the Bachelor Happy Hour podcast with Rachel Lindsay and Becca Kufrin, the co-hosts had Brendan, 30, as a guest. He discussed leaving the show despite making it to the top three. "For me, what I set out to do since day one was just be myself and be genuine and live each and every moment and be as true as I possibly can be," the commercial roofer shared with the two former Bachelorettes. He added, "And going into this crazy experience and journey I didn't know what to expect and I didn't know if this would work for me." While Brendan had a real connection with Tayshia, he wanted to be true to himself and avoid making any rash decisions based on what the show wanted, or what others were telling him. He feared continuing on in the relationship without being true to his feelings, as that might lead him to "hurt" Tayshia emotionally. At that point, Brendan knew he wasn't ready to take the next step with Tayshia. For both of their sakes, he had to walk away from The Bachelorette relationship.

Brendan Morais Tayshia Adams In The Bachelorette

Even though he didn't propose to Tayshia, Brendan Morais has realized that he does want a family in the future. He remarked, "I think the biggest takeaway for me was...I know I want a family, I know I want a wife and children, but knowing and being completely ready was something that I discovered—there was a little gap there." He continued, "There was a little gap that I need to close at some point and I need to figure that out for myself." Brendan revealed that he "self-sabotaged the moment" to protect himself from possibly getting hurt again. Like Tayshia, Brendan was married in the past and doesn't want to get engaged again if he isn't 100% committed to someone. On Tuesday, he shared a series of photos to his Brendan Morais Instagram of his journey with Tayshia and reflected on his time on the show. In his caption, Brendan said he will cherish this experience for the rest of his life and praised Tayshia, adding that she, "deserves every amazing thing life has to offer." See his touching post below:

Tayshia and Brendan may have not worked out, but she still has two amazing men left, and possibly three, if the Ben Smith rumors prove to be correct.

Next: Bachelorette: Crazy Fan Theory About Ben Smith Returning To Tayshia

The Bachelorette finale airs tonight at 8 pm EST on ABC.

Sources: Bachelor Happy HourBrendan Morais/Instagram