Manager Jose Mourinho has said they want to repay the respect United showed when the Blues won the title in 2005.
Terry said: “The manager has said already they will get the guard of honour which they did for us at Old Trafford.
“Looking at some faces, it could not have been nice.
“We have to go through that and we fully respect them as players and individuals. We will do that holding our heads up high.”
Terry added: “It is obviously very disappointing when you look at the season as a whole.
“We played really well at Arsenal — especially with 10 men — and were unlucky not to have been able to push Manchester United right to the wire.
“But it was not to be. They are champions and congratulations to them for that. They have been very good this year.
“No-one can take anything away from United. They have been awesome and some of their players have been fantastic this year.
“But from our point of view it was all very disappointing.”