The actor was one of a handful of non-family members at her funeral last week, after she passed away from congestive heart failure aged 79.
Asked about their relationship, the 34-year-old told Access Hollywood, 'How did we become friends? You know, the old story of boy meets girl, the boy pesters girl with too many phone calls at inappropriate hours of the night.
'I was just lucky enough to become her friend in the last year and a half. I adore her... still.
'I just miss her.'
The Irish star was asked to recite Gerard Manley Hopkin's poem, 'The Leaden Echo and the Golden Echo,' at Taylor's funeral and said that it was hard-going.
'Elizabeth chose it. It was a tricky poem as well,' Farrell said. 'Even in passing she had me under the thumb, sweating bricks.'