It comes after he admitted it was "absolutely wonderful" to see an audience laugh at his jokes during a recent Car Share charity screening.
He recently revealed the first glimpse of a special one-off unscripted episode of the BAFTA-award winning BBC comedy.
Peter told The Daily Star it was "wonderful and rewarding" seeing fans laugh at his comedy.
Car Share Unscripted will feature Peter, 44, and co-star Sian Gibson ad-libbing as John and Kayleigh and returns to the BBC on May 7.
The entire show follows them home on their daily commute and features what was filmed whilst driving around with no script.
In a new trailer for the episode, Peter explains the reasoning behind the improvisation, saying: "We decided to try something special.
"What would it be like if we filmed a whole journey without a script, just making it up and basically seeing what happened."
The pair are then seen singing along to the radio before Kayleigh attempts a Heather Small impression, which John says sounds more like Miss Piggy.
When the show was announced late last year Peter said: "We were always very fond of ad libbing around the script when we were filming the series so we decided to see what would happen if we took the script away and just relied on just our chemistry alone, reacting to whatever came on the radio."
Sian added: “We were always laughing, and nearly all of the laughter you see in Car Share is completely genuine.
“Peter knows how to make me laugh with just a look.”
The unscripted episode isn't the only treat in store for Car Share fans though.
The full second series repeat of Car Share will then follow on Monday nights before culminating in a brand new series finale on Monday, 28 May.
Fans begged Peter to write an alternate ending for the show, after the last series finished with Kayleigh stepping out of John's car - and life - forever.
In fact, angered viewers even started a petition demanding another ending.
It managed to garner signatures from more than 100,000 people.
Appearing on BBC Children in Need in November, Kay confirmed there would be more Car Share episodes.
He confessed: "We were completely overwhelmed by the response and even though we've no plans to write a third series we knew we couldn't end the story there."