Lucas spent most of last season out injured, a blow as Liverpool's form slumped in his absence.
Rodgers said: "He has been brilliant. He is a terrific guy.
"You have seen the growth of him as a player and a person, and the journey he's been on at this club is incredible. He still feels he has a lot to offer. How I work in liking to play this high, intense pressing and passing game brings on his fitness.
"I think if you look at him now, he is in a real good moment. Hopefully he can stay fit and strong and keep pushing on for us."