Despite surprising many by only just falling short of winning the Premier League title, Rodgers believes that only setting their sights on Champions League qualification was a huge challenge for the squad.
"I left pre-season in a good moment, finished with a real team spirit and at that point we were clear we wanted to fight for a Champions League position," the Liverpool boss told the club's official website.
"It was a huge challenge, purely because of the size and greatness of the club.
"It was five odd seasons since we had played at that level and the investment that goes in, and what teams were spending to try to get in there, never mind stay in there, was obviously significant, so for us we knew it would be a big challenge."
Liverpool will play Champions League football next season for the first time since the 2009-10 campaign.