Student teacher relationship

When I was in high school I had a sexual relationship with a teacher. It started my sophomore year and ended halfway through my senior year. I graduated 2 and 1/2 years ago. Our relationship was reported to police by a friend but I denied everything. The police came around on and off again questioning us both multiple times but didn't find enough evidence I guess plus I was still denying it. I don't know why I denied it so many times. I guess I was just scared. I'm still scared. I can't stop thinking about it. I'm effected by it everyday still. I guess my question is, even though it's been almost three years can I still do something about it?? Should I?? It was consensual and we loved each other. I know I sound so stupid when I say that but please no negative comments. A friend of mine who was in a similar situation says I need to do something about it because he could do it to another girl but honestly I don't think he would. Our relationship was not some horny fling...idk. I'm just so confused. Please please don't make fun of me or be rude. I'm just looking for advice