Arsenal star Walcott accepts criticism from Liverpool's Gerrard
"To be honest, I understand where they were coming from," Walcott said in The Sunday Times.
"It's a gamble taking someone who hasn't played in The Premier League to a World Cup - but it wasn't my choice.
"I know when people write about it they're not trying to say anything bad about me or put me down, it was more that they felt it was the wrong decision of the manager."
Walcott is hoping that he can emulate the success of his Arsenal team-mate Cesc Fabregas who received a rousing reception on his return to The Premier League club following Euro 2008.
"I feel more relaxed walking into the changing room. It's never going to happen for you straight away but it's a nice feeling when it does," added Walcott.
"When Cesc walked in after winning the European Championships with Spain it made everyone smile and I was able to think 'Yeah, I can do that if I work really hard'."