Liverpool failed to qualify for the competition since 2009, when they were knocked out at the group stages, but made it into the tournament this season courtesy of a second-place finish in last term's Premier League.
And skipper Gerrard says he has been 'desperate' to taste Champions League football once again.
Indeed, the veteran says he was envious of seeing others take part in the tournament during the Reds' absence from Europe's top table.
"When you watch the Champions League and you're not involved there's jealousy and envy seeing other players play on the big stage and that Champions League music," Gerrard told NBC.
"Because of the experiences I've had and gained over the years, I was so desperate to taste it again, even if it was just one more time."
|Team||Pos||Accurate Passes||Tackles Won||Apps||Mins|
As Opta stats show, 34-year-old Gerrard is still as crucial as ever to Brendan Rodgers' Liverpool side.
In three Premier League games so far, the Reds captain has completed the most passes and won the joint-highest amount of tackles at the club.
Having retired as England captain after the World Cup, Gerrard is not in action during the current international break and will return to the field when Liverpool host Aston Villa on Saturday September 13th.
In the Champions League, meanwhile, Gerrard will lead his side out at Anfield three days later against FC Ludogorets. It's been a long time coming.