The Spain defender, 29, joined Villa from Villarreal in 2023 in a deal reported at around £35m, reuniting with Unai Emery, who had managed him at the Yellow Submarine.
Torres has since made more than 100 appearances for Villa and become a regular fixture in Emery's defence, but told La Otra Grada podcast that his long-term plan is to finish his career back in Castellon.
"If nothing happens along the way, we're happy in Birmingham and at the club, but I think I'm going to complete the two years I have left on my contract, and that will be when I've finished my spell at Aston Villa," Torres said.
"What I'd like is for Villarreal not to have to pay anything for me. If I go back to Villarreal I want it to be as a free player, so they don't have to spend anything to sign me.
"It's the club of my life and I don't want them to give money to another club to sign me."
Torres also revealed he has already discussed the idea with Villarreal president Fernando Roig, though he was clear that any return would depend on the wishes of whoever is in charge of the team when his Villa contract expires.
"When it happens, if the manager at that moment believes I can contribute, I would be delighted to return," he said. "It's something I have in mind and that I've spoken about with Fernando Roig at some point, and when the moment comes, especially if the manager agrees, I would be delighted to return. In the end this is my home and I'm going to live here."
A product of Villarreal's academy, Torres made more than 170 appearances for the club and was part of the side that won the Europa League in 2021 under Emery, as well as the team that reached the Champions League semi-finals the following year. He also featured for Spain at the 2022 World Cup and has continued to be capped regularly by La Roja since his move to the Premier League.
Should his contract run its full course, Torres would be 31 by the time he potentially returns to La Ceramica, still a competitive age for a centre-back and one that would allow him to draw on several extra years of experience gained in England.
For now, Aston Villa fans can at least take some reassurance from his comments that he has no intention of pushing for an exit before his deal expires in 2028, with the defender continuing to be viewed as a key part of Emery's plans in the meantime.