The 46-year-old spent a little over three years at Liverpool, having been replaced by current Reds boss Jurgen Klopp after a poor start to the 2015-16 season.
He enjoyed successful stint at Celtic before returning to the Premier League as Leicester City manager midway through the last term.
He is yet to return to Anfield following his departure, however he is in good spirits ahead of making the trip up to Merseyside once more.
“I'm really looking forward to it because I haven't been back since I left,” he said.
“It's an incredible club which was great for me in my time there. I learned so much and was given great experiences.
“Of course they've been amazing these last couple of years – Champions' League winners so I'm looking forward to going back.”
Leicester are currently third in the Premier League, having defeated Newcastle 5-0 on Sunday, and Rodgers says he is relishing the challenge to close the gap on the usual top six.
“The Premier League is a tough arena but the focus and the hunger of the players week-in and week-out has shown they can play at a really good level,” he added.
“The process is working really well, the players are happy in the way they are playing and it's always nice when you have those sort of numbers to back it up.
“It's still very early, we're not getting carried away, the top six have been there for a number of years and the numbers have shown they have pulled away from the teams below. But we're improving, getting better and we're showing real good progress.
"When I came here, the idea was having the chance to compete. The top six are there, it's going to be tough but could we fight to challenge that superiority so that's the aim.
“To come here, could I bring European football, that's the big challenge and that's the challenge that I wanted.”
The Reds will be looking to make it eight wins out of eight at the start of the Premier League campaign when they face Rodgers' side on Saturday.