Baldock revealed he could not force his way back into Sam Allardyce's team last season following a small knock and now wants to establish himself at Ashton Gate.
He told Bristol City Player: "It was very frustrating for me last season. I had a good spell at the start but then got injured. I was only out a couple of games but I wasn't given the chance to get back into the team.
"The lads at the time were on a good run so it was hard for the manager. But I'm a footballer and I like to play football. Hopefully coming here has increased my chances of playing regularly."
The 23-year-old also refuted claims he has taken a step back in his career by leaving Premier League new-boys West Ham.
"I've not stepped down to the Championship because I didn't actually play in the Premier League," he said. "Last season was the right time for me to take the step up from League One. But I didn't play as many games as I would have liked and it is only right I continue my progression here."