The Royals, who were defeated by Swansea in last year's play-off final, secured their return with a 1-0 win over Nottingham Forest on Tuesday night.
Despite coming so close to promotion last season, Rodgers believes that Brian McDermott's side used the experience to their advantage this time around.
"I can only imagine what it must have been like losing a game of that magnitude," he told reporters. "They must have had an empty feeling and we've seen other clubs slide away after a result like that. But not Reading. They are a wonderful club and it's good to see them back in the Premier League."
Swansea travel to struggling Bolton Wanderers in the league on Saturday.