ESPN report that Gerrard has missed the competition and is excited for his side to get their opportunity this season for the first time since the 2009/10 season.
The 34-year-old will lead Liverpool out in their opening match with Bulgarian club Ludogorets at Anfield on Tuesday night.
Ahead of the match, he said: "Watching the likes of Chelsea and Man United in it when we were finishing outside the top four was tough. I've been craving it.
"I'm just glad it's finally here. It's reward for all the hard work last season. Everyone is looking forward to hearing that music. We need to enjoy it but we're not in it to make the numbers up. We want to do as well as we can."
Gerrard has called on the club's supporters to go about making Anfield the European fortress it once was to help the club advance through the rounds in the competition.
"There's no doubt about it, we wouldn't have got over the line in 2005 and lifted the trophy without the backing we got from the supporters. My message to the supporters is that we need that kind of support going into the Champions League this year.
"All the big trophies I've ever experienced winning, it's always been because the crowd have got behind us, both at Anfield and away from home. The support we got at halftime in Istanbul is the reason why Liverpool fans are the best in the world.
"At 3-0 down, the game was almost over but they found their voices. They sang 'You'll Never Walk Alone' and the hairs on the back of my neck stood up. It was incredible. I'm proud to have them as my supporters."
- Scott Saunders
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