Maldini used his Facebook page to send a message of luck to Gerrard as he begins the next step in his career.
Gerrard is leaving Liverpool as a free agent and joining Major League Soccer side LA Galaxy.
His Anfield farewell was an emotional occasion for the Reds faithful on Saturday, regardless of the fact they lost 3-1 to Crystal Palace.
Far fonder memories exist of a decade earlier, when Gerrard famously led a Liverpool fightback in Istanbul against Paolo Maldini's AC Milan, coming back from 3-0 down at half-time to draw 3-3 in the Champions League final, and then win on penalties.
Maldini, who played more than 600 times for Milan, would get his revenge as he led Milan to a 1-0 win over Liverpool in the 2007 final, the fifth of his career.
The impact Gerrard made on him however is clearly unforgettable.