The trio will be competing in this weekend's final alongside Leanne Mitchell.
Speaking to The Sun today, Bo said: "Tyler, Vince and I sat in a room full of 40 people and thought, ‘What are we doing? Is this going to work?’
“We felt awkward and insecure. We were instantly drawn together as the oddballs.”
And Bo admitted that she was overwhelmed that the public had taken to her and that the show has allowed her to perform how she wanted.
The 27-year-old said: “It’s really interesting that the public have gone a bit left-field with the sound they want to hear.
“The joy of this has been that I can sing the songs that I always wanted and wear what I wanted.
“I didn’t expect that. I thought I’d have to jump through hoops and do as I’m told."
Bo added: “I'm having an amazing time.”
The Voice UK final airs on Saturday from 7:20PM on BBC One.