The Newcastle man, who can play both as a full-back or winger, spent 26 months out with a long-term knee injury but finally made his return to action during the Magpies' recent Capital One Cup win over defending champions Manchester City.
And Taylor admits Chelsea's Terry and Liverpool's Gerrard helped him during his bid to return to fitness, while also congratulating him upon his return.
"I thought I’d get half an hour but we had a team meeting and the XI went up. I was like, 'hold on a minute, I’m in it,'" he told the Daily Mail while not being able to suppress a laugh.
"I thought I’d play an hour. Once he’d made all three subs I thought, 'what’s going on? It’s only 1-0, we could go to extra-time here.' So when Moussa (Sissoko) scored our second I wish that I could have sprinted and kissed him, but I couldn’t run.
"It was one of those days where everything fell right and the result topped it off. It made those two years feel like two minutes.
"It was incredible, the reaction from our fans and the lads. I had messages from John Terry, Steven Gerrard, Michael Owen, they helped me."
Newcastle and Chelsea are in action later today, against Queens Park Rangers and West Brom respectively, while Liverpool travel to Crystal Palace tomorrow afternoon.