The Doctor swore at the beginning that he would never accept his exile. He would fight and if they would not free him, he would find a way to free himself.
He did his best. His days were filled with attempts to repair the TARDIS and take back what he had lost and he tried to keep the humans who surrounded him at bay. They were irrelevant. He'd repair his ship and be free of this time and place.
But it didn't work that way. As much as he hated to admit it, he liked having people around, humans especially, and he wasn't about to leave them to save the world on their own. He might hate being trapped, he had to admit that for every annoyance (like the Brigadier's paperwork), there was an equal pleasure (talking science with Liz, picnicking with Jo).
When he was finally freed, he couldn't wait to get away, and though he'd sworn off companions after what happened to Zoe and Jamie, he found himself inviting Jo to come along. He truly was fond of her company.
The days and years passed, Jo wandered off to get married, but there was Sarah instead. And he still found himself returning to the site of his exile, even though he was free to go wherever he chose. He pretended not to notice that it had turned into a safe harbour and would remain that way until the day he regenerated and after.