Welsh will face his old club in a friendly this preseason.
He told the Liverpool Echo: "As a supporter it was hard to take and leave the club. I was still only young and had to move out of the city.
"But as a professional I knew I had to do it. I needed games, I was hungry and wanted to play. I wasn't going be happy with two or three games a season and Hull City gave me a great opportunity to go there and get a full season under my belt.
"At first I thought I maybe would come back but it led to a permanent transfer, which worked out really well."