Summary: Humans, while they make excellent companions, are lacking in one respect.
Most humans are baffled when they first enter the TARDIS; they can’t understand how the walls of something no bigger than an old-fashioned telephone kiosk can enclose so much space. The Doctor has known people who’ve simply fainted at the sight, unable to wrap their brains around the fact that a small, unassuming blue box can be bigger on the inside than it is on the outside.
He could explain, in detail, and occasionally he tries, but the science is too advanced for most humans; they’re not ready for transdimensional geometry, which is a shame. It’s such a fascinating subject.