In particular, at Silverstone this season when the pair came wheel-to-wheel on several separate instances.
"A lot happened and it was very cool," Verstappen said as quoted by GP Today.
"We went a bit out and our wheels had some contact, this does not happen a lot normally in Formula 1. I love it and if you win it is even more satisfactory than when you lose.
The pair were separated by just 14 points at the end of the season, Verstappen holding the slight advantage in finishing 3rd in the final drivers' standings.
"Even since our go-karting time we had those battles and I am sure we will have more of that in the coming years. I think it is good for Formula 1."