Liverpool reached an agreement with Rodgers' former club Swansea over a compensation package, that allowed the 39-year-old to move to Anfield.
"I'm very proud, it's a club with wonderful tradition and I feel very blessed with the opportunity to manage the club," Rodgers said.
"Once I had found out I was the number one target from the important people at Liverpool it was quite an easy decision," he added.
Rodgers has worked under Jose Mourinho at Chelsea.
"My pathway as a young coach has been different to most managers," he said.
"I have actually been coaching and working in football for 20 years. At Chelsea I had experience of working with big players.
"I look at Kenny Dalglish, he was the manager (of Liverpool in 1985) at 34 and resigned at 39. I arrive here at 39."
"This is long-term, that was important to me, to come into a project over a number of years," Rodgers continued.
"For me (the attraction), is to defend the principles of this great club, offensive football with tactical discipline, and to retain the values of the club.
"That was the attraction, the history of the club.
"Also the frustration. It has been over 20 years since they won the title. We might not be ready for the title but the process begins today, it's a new cycle, and that is something that we will work towards in the years to come."