Rodgers had taken the Reds close to a Premier League title in 2014.
But come October 2015, the team was struggling to play with the attacking fervor that has made Rodgers famous as a manager and he was replaced by Jurgen Klopp.
Rodgers told The Beautiful Game Podcast: "There were a few stories but I didn't know a thing. Clearly the decision was (already) made but I wasn't aware of it.
"The first I spoke to the ownership was with Mike Gordon on the drive back home after the game.
"When I arrived at the training ground, I got in the car and I was driving home and I got the call from Mike. That was the first time I knew.
"I thanked them for it, for the experience, I knew where they were coming from and we parted on good terms. We both moved on.
"I had a wonderful experience. The first two years in particular of building towards that run that we had. We then lost one of the real catalysts of the team.
"The third year I found, from a coaching perspective, we weren't doing well then we changed it and went on a run and came back into it.
"But at the end of that season when Aston Villa beat us I think everyone wanted to finally get a trophy and after we lost that we dipped, then of course the last game of the season wasn't a true reflection of how we worked."