The Reds were on top for much of the Group C encounter at Anfield, but it looked as though they would be made to pay for their missed opportunities when Kylian Mbappe scored an 83rd-minute equaliser for the underwhelming visitors.
"This club and the fans have been waiting for the Champions League to come back since May. We got a good start and made it hard for ourselves but there is nothing better than a late goal," he told BT Sport.
"I felt we controlled it. We lost a goal just before half time but controlled the second half before a sloppy pass and they broke on us. That was the only time opened us up.
"At that point we thought a draw would be it but we found a second wind and the chances kept coming. We are good at getting in people's faces, especially at home when we know the fans will get behind us. You heard the fans at the end they are a different class."
Liverpool will be bidding to maintain their 100% start to the season at home to Southampton on Saturday.