Ranieri saw his Leicester City side held to a 1-1 draw on a warm return to Stamford Bridge.
The Italian, who spent four years with Chelsea between 2000 and 2004, was roundly applauded by the home crowd when he emerged from the tunnel, and even received a special award from former Blues keeper Carlo Cudicini.
The game itself looked to be heading towards a defeat for the Foxes after Cesc Fabregas' 66th-minute penalty put the hosts ahead, only for Danny Drinkwater to fire home a late equaliser and salvage a point for the champions.
Ranieri's men end the season 10 points clear at the top of the Premier League, and the 64-year-old was quick to acknowledge the warmth displayed by his former employers.
He told Sky Sports after the game: "It was amazing, thank you. The emotion is fantastic. It was a good atmosphere and I want to say thank you to our fans and the Chelsea fans."
But despite finishing a title-winning season within such a welcoming atmosphere, Ranieri admits he was a little disappointed by his side's failure to keep an underachieving Chelsea side at bay.
"It was important to finish well," he continued. "We wanted to keep the clean sheet for Kasper (Schmeichel) but it was not possible.
"It was a good match, both teams had chances and well done to the players on a warm day. I am very proud. We are a unit, we play together, fight for each other, and that was our motive."