The Senegal winger, who has penned a deal with Bayern Munich, said he was determined to leave the club on a high note.
Mane helped the Reds win countless trophies in the past six years, including the Premier League and Champions League.
He told the club website in a farewell interview: "Yeah, of course [leaving on good terms]!
"That was the plan from the beginning because for me, to leave Liverpool in a very good way, that is me because how I have been there. It was fantastic in the club, in the dressing room.
"I am friendly with everybody, the coaching staff and even the kitchen staff, the ladies in the kitchen! So, for me leaving in a good way is so, so important – and [for] the fans as well."