Steven Gerrard has sorely missed European competition and admitted to feeling envious of Chelsea and Manchester United during Liverpool's Champions League absence.
The Reds' captain has called on the club's supporters to inspire a long run in the competition when they return to it on Tuesday night.
Gerrard will lead his team into action against Bulgarian champions Ludogorets in their opening Champions League Group B match at Anfield on Tuesday night.
It will be the first time Liverpool have played in European football's top club tournament since exiting in the group stages with a 2-1 defeat at home to Fiorentina in December 2009.
Gerrard has fond memories of the competition, having been part of a comeback from three-goals down to beat AC Milan on penalties in the 2005 final in Istanbul.
The former England captain told the Liverpool Echo: "There has almost been a jealousy and an envy that we weren't involved.
"Watching the likes of Chelsea and Man United in it when we were finishing outside the top four was tough. I've been craving it.
"I'm just glad it's finally here. It's reward for all the hard work last season. Everyone is looking forward to hearing that music. We need to enjoy it but we're not in it to make the numbers up. We want to do as well as we can."
Liverpool qualified for the Champions League by finishing runners-up to Manchester City in the Premier League last season, and Gerrard is keen to rekindle his love affair with the competition.
The 34-year-old said: "There's no doubt about it, we wouldn't have got over the line in 2005 and lifted the trophy without the backing we got from the supporters.
"My message to the supporters is that we need that kind of support going into the Champions League this year.
"All the big trophies I've ever experienced winning, it's always been because the crowd have got behind us, both at Anfield and away from home.
"The support we got at halftime in Istanbul is the reason why Liverpool fans are the best in the world.
"At 3-0 down, the game was almost over but they found their voices. They sang 'You'll Never Walk Alone' and the hairs on the back of my neck stood up. It was incredible. I'm proud to have them as my supporters.
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"For our new signings, I'm sure they will know before kick-off on Tuesday that a European night at Anfield is a bit different because the support will be phenomenal.
"They have got to enjoy it. It's what football is all about and where every player wants to be."
Ludogorets will arrive at Anfield having overcome adversity to qualify for the Champions League group stages.
Georgi Dermendzhiev's side beat Romanian champions Steaua Bucharest on penalties without a recognised goalkeeper, after Vladislav Stoyanov was sent off towards the end of extra-time in the second leg of their play-off tie.
Centre-back Cosmin Moti went in goal and saved two spot-kicks as Ludogorets went through 6-5 on penalties after the tie had finished 1-1 on aggregate.
The Bulgarian side warmed up for their visit to Merseyside with a 2-1 league victory at Botev Plovdiv on Friday.
Liverpool, on the other hand, were beaten 1-0 at home by Aston Villa in the Premier League on Saturday, but goalkeeper Simon Mignolet believes they can bounce back quickly.
Mignolet told the Liverpool Echo: "It's good for us that the next game comes so quick as we have the chance to put things right.
"We have to forget about this as quickly as possible and lift ourselves for the Champions League. We have to make sure we bounce back on Tuesday night.
"Ludogorets are a bit of an unknown side for us but we have to look at ourselves. We need to make sure we improve and I'm sure we will."