"That's something that comes truly from the bottom of my heart. That doesn't interfere with anything to do with my rugby and the guys around me.
"As team-mates, I'm still the same person and I try to bring that energy as best I can when I'm around the team and obviously going out and playing on the weekends doesn't change who I am. That's the most important thing that I've learned probably the last month."
All Blacks TJ Perenara and Brad Weber have spoken out against Folau's comments, while many fans have also expressed their disappointment.
However, the 29-year-old - who recently wed Silver Ferns star Maria Tutaia - said he wasn't hurt by the backlash.
"Absolutely not," Folau said when asked about the criticism he received. "I don't take anything personally. I understand everyone is entitled to their opinions and I've said what I've said in recent weeks. I leave it there."
He was looking forward to making his on-field return in Sydney following a hamstring injury that kept him sidelined for five weeks, Folau said.
"At the end of the day, you're an adult. You've got to clear those things up and you've got to look at what are the main things out of it," told AAP.
"You can't hold grudges, you can't take anything personally. I've been fine with how everything's rolled out the last month. My focus is obviously on getting back out there on the field, which is an exciting time for me."
Earlier, Waratahs coach Daryl Gibson said Folau's time away from the game would have done him good.
"We've done very well without him but it's great to have him back," Gibson said.
"He brings a lot [and] a different attacking dimension to us. That four weeks he's been away, it's been a good opportunity for him to get his body right and mind back into footy."
Folau's contract with Rugby Australia ends at the end of this year. RA opted not to sanction Folau for his controversial comments, despite pressure from sponsors Asics and Qantas.
The Waratahs face the Blues at Brookvale Oval on Saturday at 9.45pm.
