Honda would be "better prepared" for McLaren partnership if time could be reversed, based on their experience in Formula 1.
For three years the Japanese manufacturer struggled with a lack of power and reliability as a partner of the British team, with many feeling the restrictions placed upon them were a burden.
This certainly seemed the case when performance improved last year with Toro Rosso and again now with Red Bull too, but Yamamoto says it goes beyond just having greater freedom.
"That we were not fully prepared [when we joined McLaren] was the biggest lesson," the Honda chief was quoted by GPFans.
"If we could start again, we would definitely be better prepared to get into a better position more quickly.
"What we went through with McLaren was precious lessons, and we learned a lot from it. That has brought us to where we are today."
It is widely considered that Honda is now the third-best engine on the grid having overhauled Renault and reliability this season has been very strong.
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Looking forward though, Yamamoto knows the company needs to make the final steps to match the current benchmark set by Mercedes and Ferrari.
"It will be tough, but if we stay on the road one day we will be able to fight them. We are working in that direction,” he continued.
"Motorsport is all about winning and losing, although it is probably 50 per cent pressure and 50 per cent fun. We need to make progress according to our plan.
"Formula 1 is the best stage to tackle this challenge.”
