Write down the adjacency matrix $A$ (means label your graph vertices with numbers and write down a matrix, where $A_{km}=1$, if vertex $k$ and $m$ are connected), take the $n$th power of $A$ and look at the element of interest. If you are interested, how many ways from vertex $k$ to $m$ you have after $n$, look at the element $(A^n)_{km}$, which is an element on the diagonal for a returning path.
So in your example, a tetrahedron, $A$ is represented by $ A^1=\pmatrix{ 0 & 1& 1 &1\\ 1&0&1&1\\ 1&1&0&1\\ 1&1&1&0 }. $ On the diagonal you find all values equal to $0$, since you can't return in one step, as you've already noticed. Now take the square of $A$. So you'll get $ A^2=\pmatrix{ 3&2&2&2\\ 2&3&2&2\\ 2&2&3&2\\ 2&2&2&3 }, $ where on the diagonal you have all values equal to $3$, also as you've already noticed. The fact that all values are equal follows from your special example. It's complete graph $K_4$, where you can exchange all vertices due to symmetry.
In addition you get the number of ways from $Q$ to any other vertex in $2$ steps, by looking at the corresponding off-diagonal element.