Dylan Efron Reflects on ‘DWTS’ Journey Placing 4th in Finale (Exclusive)

Dylan Efron is reflecting on a season of dancing.

After competing on season 34 of Dancing with the Stars, the season finale brought Efron and his four co-competitors’ dancing journey to an end, as Robert Irwin ultimately beat out the competition to take home the coveted Len Goodman Mirrorball Trophy.

The three-hour-long finale saw Efron compete alongside his pro-partner Daniella Karagach — going up against Alix Earle and her partner Val Chmerkovskiy, Jordan Chiles and partner Ezra Sosa, Elaine Hendrix and partner Alan Bersten and, of course, Irwin and his partner Witney Carson.

Earle ultimately placed second in the competition, with Chiles following up as third, then Efron and finally, Hendrix rounding out the pack.

Following the show, Efron spoke exclusively with PEOPLE about what he got out of the experience.

“I think I did something I never thought I would or could, and I think that’s what I’m feeling is I easily could have gone my whole life without ever experiencing this, and I’m so happy I did,” he reflects to PEOPLE.

Continuing on, Efron thanked his partner, saying, “I’m so happy Dani was my partner. I wouldn’t have changed a single thing.”

Chiming in, Karagach added that, despite Efron feeling as though the experience changed him, she loves that “he didn’t change” who he was over the course of the competition.

“He was just himself from the beginning, and that never changed, and I love that,” she tells PEOPLE.

Last week on the penultimate episode, Efron and Karagach found themselves at the bottom of the leaderboard, but Karagach said she was excited that they had judge Bruno Tonioli choosing their first dance of the evening to get Efron “out of his shell.”

Tonioli wanted him to be the “ultimate leading man” with the Paso Doble, and he certainly delivered as they danced to “Stampede” by Alexander Jean featuring Lindsey Stirling.

Efron’s time to shine, however, was during the Instant Dance round, where he earned all 10s for his foxtrot to “Ordinary” by Alex Warren, despite telling host Julianne Hough that he didn’t want to draw the dance.

During his freestyle round, Efron brought tears to the eyes of the ballroom, saying, “My whole life, I’ve watched my brother perform. I never wanted to be in the spotlight and the fact that I can step on stage and capture people’s attention gives me chills. I finally feel like I belong here.”