Joselu will join Al Gharafa after the Euros and was speaking ahead of Friday's Euros quarterfinal against Germany.
He said of his time with Stoke City: “We were ninth that year, I wanted to find out more. Being a good person takes you to moments like that.
"When I was at the Stoke I don't think anyone thought I could be at Real Madrid. I have never stopped dreaming and thinking that I could come. I am fulfilling the biggest dream which is to win with them.
"At the moment I now I enjoy every day. It is not easy to get to Madrid at 33 and get what we have achieved and not be in a Euro Cup either. I have had moments that have not been entirely as if I had been in Madrid for 10 years, but everything comes.
"I am happy with everything I have learned and it has led me to be here. The path is not easy. I wish I had been 10 years at Real Madrid, which is where I have enjoyed the most. I have enjoyed every moment in the countries that I have played and it has helped me to be here today."