The Merseyside outfit are now five points clear at the top of the standings with three games left to play.
"The last few years have been so difficult for us and the fans as well," Lucas told the club's official website. "We still haven't done the job, but one thing we have achieved is the Champions League - it was the main target for us at the beginning of the season, with no qualifiers - straight to the group stage.
"We will have more time in pre-season. One target is achieved, now we can carry on and think about the title."
Liverpool will face Chelsea, Crystal Palace and Newcastle United in their remaining fixtures.