The Reds required extra time to advance past League One outfit Notts County after a 4-2 victory at Anfield in the Capital One Cup second round.
Despite progressing to the next stage of the competition, Gerrard is disappointed that his side played for as long as they did.
"That wasn't what we wanted. We're going away slightly disappointed," Gerrard told the Daily Mirror. "Yeah, we're in the draw and we're in the hat and obviously pleased to be through, but it was exactly what we didn't want really. One hundred and twenty minutes and a lot of players who are going to be starting on Sunday have played too much football.
"There's no doubt about it, extra time, playing that amount of minutes, is a bit of a blow to us.
"I think the game plan was to get the game won, done and dusted, and then try and rest a few for Sunday."
Liverpool host Manchester United in the Premier League on Sunday.