Keith Urban recently spent an entire day filming with Blake Shelton on the set of The Voice, and he came away from the experience with a new appreciation for him.

Urban is serving as an adviser to Shelton's team in the battle rounds during Season 15 of the hit reality singing competition, and he reveals that he and Shelton hadn't spent very much time together prior to filming his guest spot.

"I like Blake a lot. I like him even more after spending a whole day with him and getting to know him," Urban told the Boot and other media outlets in Nashville two weeks after taping the appearance. "I realized I didn't know him that well. I've never really spent any time with him, so I really enjoyed it."

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Urban previously appeared on one season of The Voice in Australia, and he left that job in 2012 to accept a new role as a judge on American Idol. He enjoyed returning to The Voice in a new capacity.

"I had a blast doing it. I love that side of it," he states. "I love being able to try and offer advice, feedback, insight, guidance — anything I can to those guys and girls who haven't had that opportunity, and haven't been around people who can give them specific help."

The Voice is set to return to NBC for its new season on Sept. 24. In addition to Shelton, Kelly Clarkson, Adam Levine and Jennifer Hudson are serving as judges for Season 15.

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