British Prime Minister Theresa May said Friday that the UK has never felt at home while it was a member of European Union as she set out her plan for future ties with the bloc.

Speaking in Florence, Italy, May said: "Throughout its membership, the United Kingdom has never totally felt at home being in the European Union."

"The profound pooling of sovereignty that is a crucial feature of the European Union permits unprecedentedly deep cooperation which brings benefits but it also means that when countries are in the minority they must sometimes accept decisions they do not want, even affecting domestic matters with no market implications beyond their borders."

Speaking about the implementation of the period of new relations with the EU, May said people will continue to be able to come and live and work in the UK but there will be a registration system, "an essential preparation for the new regime."

"As of today, these considerations point to an implementation period of around two years."

"Clearly people, businesses and public services should only have to plan for one set of changes in the relationship between the UK and the EU. So during the implementation period, access to one another's markets should continue on current terms and Britain also should continue to take part in existing security measures. And I know businesses, in particular, would welcome the certainty this would provide."

May said the British people's decision to leave the EU and be a "global free-trading nation" will lead the country in its own way in the world, adding that the move is promising rather than a worrying one.