The Scot was sacked on Wednesday by owners Fenway Sports Group and Gerrard reflected the views of many when he voiced his sadness at the decision.
"The last 24 hours have been a rollercoaster for me," the newly-installed England captain told liverpoolfc.tv.
"I am very sad to see Kenny leave our club. He is my idol and will always be my idol and I would like to express my thanks and appreciation for what he has done for my career.
"My focus now is on doing my best for England in the European Championships and then returning to Liverpool for a new season where we will look to build on the progress of the last 18 months and be competitive at the business end of the Premier League."