The Reds host Ludogorets Razgrad on Tuesday in their first game in Europe's elite competition at Anfield since they were knocked out at the group stages in 2009.
BBC Sport quotes Gerrard as saying: "There has almost been a jealousy and an envy that we weren't involved. I've been craving it. Everyone is looking forward to hearing that music.
"Watching the likes of Chelsea and Man United in it when we were finishing outside the top four was tough.
"I'm just glad it's finally here. It's reward for all the hard work last season. We need to enjoy it but we're not in it to make the numbers up. We want to do as well as we can."
Gerrard was captain of the Reds side that won the 2005 competition against AC Milan.