The 68-year-old weatherman appeared on Monday's show via Zoom to discuss his progress after his recent hospitalization.
"It's good to be home. It's good to see your faces," Roker said, smiling with his new salt-and-pepper mustache.
As for his recent health struggles, Roker got candid, saying, "Listen, it's been a tough slog. I'm not going to deny this. It's been the hardest one yet. You know, I've had my share of surgeries. But it gives you a profound sense of gratitude for this outpouring of prayers and thanks. I'm a very fortunate person."
As for when he will return to the NBC morning show, Roker shared that he still has more healing to do.
"You lose a certain amount of muscle mass for every week you're in the hospital. I was in the hospital for four weeks," he explained. "It's just a certain amount of weakness. I'm doing physical therapy every day, occupational therapy. I've got to just get my strength back."
Roker said that despite the setbacks he feels "good" and "strong," and that every day he's feeling "a little bit better."
"I made dinner last night," he shared. "It's going to be a little bit of a slog. But a lot of people have to deal with a lot more with a lot fewer resources, so I'm very fortunate, very blessed to be able to have the resources I've had."
Roker noted that his journalist wife, Deborah Roberts, and daughters, Courtney and Leila, have been by his side, adding that his son, Nick, is returning from college shortly.
"What's been great, when the doctors come in, [Deborah's] journalistic chops... she whips out a list of about 20 questions," Roker said of his wife.
He also joked that co-anchor Hoda Kotb has been making so many visits to the hospital that she's been named an "honorary doctor."
Roberts shared her own video thanking fans and followers for their support amid Roker's health struggles.
"I just wanted to take a moment to jump on here just to say, 'Hello,' and to say, 'Thank you.' Thank you, thank you, thank you all for your kindness, for your well-wishes, for your prayers, and for your love," Roberts began. "I just wanted to just take a moment because as you all know, I'm very active on social media, but I have not been as much lately because I've been fixated on making sure Al is well, and I think he would be also the first one to say -- and he has said, on social media, thank you, thank you, thank you."
As a family, Roberts said they are "overwhelmed" by the love and support they have received during Roker's stints in the hospital.
"I absolutely believe there was power in that," Roberts added of the positive messages that came their way during this difficult time. "There's power in positivity, there's power in prayer, and I really, really believe that is what has lifted us -- our family, Al, all of us."
While Roker is out of the hospital, Roberts said it's a slow road to recovery, and that she and her family continue to welcome people's prayers and well-wishes as the weatherman works to get his health back on track.
Roker was hospitalized last month after a blood clot in his leg sent clots to his lungs. At the time, Roker wrote on Instagram that he was "fortunate to be getting terrific medical care and on the way to recovery."
While Roker celebrated getting out of the hospital in time for Thanksgiving, a source told ET that he "went back to the hospital" after the holiday.