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"People loved watching us talk s--- to each other," Levine tells PEOPLE of why there's "no replacing" his banter with former 'Voice' coach Shelton

The Voice' coach Adam Levine was reportedly unhappy with many rule changes on the NBC series ahead of his departure at the end of season 16.

Adam Levine is returning to 'The Voice' without his best frenemy Blake Shelton, but still, the rivalry lives on.

"We were like the [Rolling] Stones or something," Levine recalls about what those early days were like with Season 1 Coaches CeeLo Green, Blake Shelton, and Christina Aguilera.