The defender was called into the senior squad last week after initially being named in the Under-21s.
Steven didn't add to his single cap as England hammered San Marino and then drew in Podgorica, but he insisted he still reaped the rewards from just being around Roy Hodgson's squad.
"It was my third trip with the squad and I’m getting that little more familiar with the lads," said Steven.
"That’s how your confidence grows, when you feel more comfortable you will produce better performances.
"It was a great experience. Of course, I would have loved to get on the pitch, but it’s not too much of a disappointment as I know it was a trip for me to learn.
"I took a lot from it, being in and around the senior professionals and they are all friendly and welcoming. Everyone gets on well. We're at the business end of World Cup qualifying and the games really matter. I really felt part of it."
Steven was back in training on Wednesday and now prepares to return to familiar territory as we travel to Swansea in the Premier League on Saturday.
The 21-year-old enjoyed a successful loan spell at the Liberty Stadium last season, playing 26 times. "I had a great year there and I'm excited about returning on Saturday," he said.
"They are always a tough team to beat and they have real belief at home but we'll be confident and go there to play our football.
"The gaffer will have his tactics spot on and it will be up to us to deliver."