But he admits he's been impressed by new gaffer Brendan Rodgers.
"At the end of last season, I didn't think that (changes needed to be made)," said Gerrard.
"We had done so well in the cups. I thought we would have improved. So when Kenny left it was a big shock and disappointment. I love Kenny. But what has happened has happened. I understood the decision. Finishing eighth was not good enough.
"I'd had text messages and calls throughout the Euros from Brendan and he has made me aware of what he's trying to do.
"Every time you speak to him you can't help but be impressed."