Kelly made the summer move to Crystal Palace for £1.5 million.
But the 24-year-old said he left the club on good terms and is still in touch with several players on Merseyside, and Liverpool boss Brendan Rodgers.
In an interview with the Liverpool Echo, Kelly said: “I still speak to Jordan Henderson , Jon Flanagan and Lucas, and I was in contact with Brendan a few weeks back.
“He texted me after a game just to say how much I must be loving playing regularly again and that meant a lot. I know if I ever needed any advice on anything I could call him.
“I’m glad that I left Liverpool on such good terms. I know if I’m ever back home I could walk into Melwood and spend time with the players and the staff."
Kelly was unlucky during his time at Liverpool. He was often thought of as a very capable defender by every manager he worked under, and the majority of the fans thought the same.
But his injury record didn't make for good reading. As a result it held him back because other players were allowed to take his place in the side, and he found it increasingly difficult to nail down a regular starting place.
Kelly also explained his reasons for moving to Selhurst Park, citing the atmosphere the fans created in last season's dramatic 3-3 draw at Selhurst Park as a big reason for his move.
He added: “The noise the Palace fans made that night was incredible and it was one of the major reasons why I decided to come here.
“The only other grounds where I’ve experienced an atmosphere like that are Anfield and Goodison. Selhurst Park was bouncing. When I heard Palace were interested I thought back to that night and what it would be like to play in front of those supporters all the time."