The 41-year-old, who played under Arsene Wenger at Arsenal and Roberto Mancini at Manchester City, has spent the last five seasons learning his coaching trade by assisting Brendan Rodgers at Celtic and Leicester.
"It's strange but every manager I've worked with, they all told me, 'You're going to be a manager one day'. It was incredible," Toure said. "I started my coaching badges in 2014 when I was playing at Liverpool.
"I'm quite vocal, I tried to help my team and management was the feeling I had for a long time. When I finished my career, I never stopped.
"I learned all the skills you need to be a manager. I'm not here to promise anything. I'm here to work. My work will talk for me."
He added: "Critics are normal, if any club appoints a new manager as his first job. Not just me.
"I understand it. It's no problem. My job now is to show that the club was right."
Toure begins his new career this weekend against Millwall.