The former Maryland standout has been catching up with family and friends this week, including Ravens wide receiver Torrey Smith, a fellow former Terp.
"It feels great to see my family and friends, being out here playing in front of them," Davis said. "It's not every day and every week you get an opportunity to do this.
"It's great catching up with Torrey, especially since he's a Maryland alum. It's great to see those guys, especially since he's a Terp. It's amazing just being here and getting a chance to get better."
The Washington, D.C., native rejoined the 49ers for training camp after he skipped offseason activities because he was unhappy with his contract.
Davis signed a six-year, $42.7 million deal in 2010, and the 30-year-old has two remaining years on that deal. He's due $5.1 million and $4.95 million over the next two seasons.
With an annual average of $7.4 million, that deal ranks Davis third among NFL tight ends.
The two-time Pro Bowler returned to the 49ers without an adjustment to his contract.
"It feels good to be back with the guys," Davis said. "It's my family. When I'm away, I'm not feeling good. I'm upset. Being back here was great. The look on those guys' faces when I first walked into the locker room, they were extremely excited to see me and I was happy to see them as well."
Davis caught 52 passes for 850 yards and 13 touchdowns last season. For his career, Davis has 397 receptions for 5,201 yards and 53 touchdowns.
Davis left Maryland after a junior season in which he caught 51 passes for 871 yards and six touchdowns and was named an All-American. The 6-foot-3, 250-pounder ran the 40-yard dash in 4.38 seconds at the scouting combine and was selected sixth overall.
"Being back brings back a lot of memories playing at College Park," Davis said. "It's definitely been great being back here."
Davis said the practices with the Ravens have gone smoothly. The practices haven't included any fights.
"Practice is going all right," Davis said. "When we got out here, we thought there was going to be a bunch of fights. In the past whenever we would scrimmage someone, it was always a fight. We're fortunate enough to come out here and get some good work in and play some good football."