Gerrard said: "We were pushing and pushing but it wasn't happening. But this team have shown over and over again that they will keep going right to the end. We got our rewards.
"The penalty was debatable but I got there first and he has jumped through the back of me. If that happens outside the area you would get a free-kick, so inside the box it's a penalty.
"We were disappointed that the referee did not see a handball earlier which for me was a clear penalty, so we deserved a spot-kick."
Gerrard had to wait patiently for order to be restored before he could dispatch the penalty past Leo Franco.
He added: "I was just trying to concentrate and blot everything else out. I decided where I was going to put the ball and stuck to that.
"It's always a good feeling to score at the Kop end. Because of all the uproar, I had plenty of time to decide where I was going to put the penalty.
"Usually I like to get on with it but their players were complaining about the decision and I had to wait. But I was cool, I put it right where I wanted it."