Peter, 30, admitted when he began reading excerpts from Hannah's upcoming book, God Bless This Mess, about their February 2020 hookup that followed Bachelor in Paradise couple Dylan Barbour and Hannah Godwin's engagement party, he thought to himself, "Oh sh-t."
"I thought we were going to keep it private, and I guess that wasn't the case. But I'm totally okay with it. It's all good and I don't mind any of this," Peter said during Thursday's episode of his "Bachelors in the City" podcast co-hosted by Dustin Kendrick.
"I wish so bad that I could write the whole story down post-show... I think her book was 'God Bless This Mess.' Guys, if I could write a story... this would be the most dramatic book you could ever imagine! I learned a lot. I learned a lot, and I'm not mad about anything."
Peter, who noted how he needs to be released from his ABC contract in order to spill all the details, insisted he was never going to say anything about his post-show sexual encounter with Hannah "out of respect for her."
"Nothing is bad, nothing is spiteful, nothing is mean. I just didn't think it was necessarily appropriate to talk about. But I guess I kind of have permission to do that now," Peter said.
Peter went on to share his recollection of reuniting with Hannah and having a little tryst at his parents' home in Los Angeles that changed their relationship forever.
Peter was apparently hoping Hannah would give their relationship another shot after The Bachelorette's Season 15 finale aired and she called off her engagement to winner Jed Wyatt, but then Hannah asked out her runner-up, Tyler Cameron, instead on After the Final Rose.
Peter, who placed third on Hannah's season, said when he was approached to star on The Bachelor's 24th season, he was "still thinking about Hannah" and "trying to push" himself to move forward in late 2019.
After a little flirty banter back and forth on social media, Peter began filming The Bachelor -- and Hannah showed up twice, both on Night 1 to hopefully give Peter some closure and then to host a "sex stories" group date, which led to an emotional trip down memory lane for the exes.
"I told her that I would quit the show, that I would leave [for her]. I didn't know how I was going to leave and it was probably the stupidest thing in the world," Peter said, recalling how he had even joked with Hannah about getting on a flight together and taking off.
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Peter said his conversation with Hannah ended abruptly because they ran out of time and there was no conclusion. Peter then shared how he didn't see or talk to Hannah from that point on.
Peter called his time after the show "a mind f-ck" and a "tough, tough period" for him, and then he was invited to Dylan and his fiancee's engagement party.
The Bachelor producers allegedly told Peter that he couldn't attend, but he convinced them otherwise in order to celebrate his friends.
Peter admitted he was taken with Hannah's "big beautiful smile" when she walked into the party and they "ended up chatting... in secret."
"I ended up leaving, and I was like, 'I want to talk to her more.' And so I remember I pulled over and texted her and was like, 'Let's chat. Do you want to talk more?' And so I ended up coming back to the party and then she snuck out of the house without anyone figuring it out," Peter revealed.
"We got in my car. We drive. We go to her place, her apartment, just chatting on the way and catching up on things."
Peter and Hannah then ended up at Peter's place, although he doesn't remember why, and he said it felt really good to just talk to her with no cameras around.
"I definitely opened up to her -- a lot -- because if anyone is going to understand and know the pressure and whatnot that you go through, it's her," Peter said.
Peter had proposed marriage to his The Bachelor winner Hannah Ann Sluss when he still had feelings for his runner-up Madison Prewett. By the time Peter reunited with Hannah at the party, he and Sluss had already called it quits on their relationship in late January.
Peter said his conversation with Hannah was "good" and then they "spent the night with each other."
"And that was it," Peter said.
"That was the last time that I saw her physically. We chatted for a little bit and I just remember being in a weird place because the [end of] the show is coming now... and I didn't know what to do."
Peter confessed that he didn't know how to navigate things at that point and "it was a mess."
"We chatted and it faded off. It just wasn't fully there, I guess," Peter explained. "I agree with what she said."
Peter was referring to how Hannah had said she and the pilot lost their chemistry and their sex "just sucked" that night. Hannah also called sleeping with Peter "a poor decision."
"It wasn't the same as I think we had originally felt," the pilot confirmed on his podcast.
"But, nonetheless, it was great to talk and just, you know, have someone that kind of understood where I was coming from. And that was it. And that was the last time I ever saw her in person."
Peter also recalled that being the last time they ever chatted or texted each other.
"I would love to get Hannah on [my podcast]... now that it's all out there," Peter noted.
He concluded that everything worked out because Hannah is now seemingly "in a beautiful relationship" with model Adam Woolard and he's happy for her.
"Hannah is one of the most amazing people I've truly ever met... She just owns her imperfections, and it's so attractive, I think," Peter gushed of the Dancing with the Stars winner, adding how she's a really good person with a good heart.