Rodgers enjoyed a successful spell at Vicarage Road, leading the club away from the drop zone after taking over last November, but he angered supporters by opting to join Reading in June.
Watford, now managed by Malky Mackay, visit the Madejski Stadium on Saturday and Rodgers told his club's official website: "I'm looking forward to it because I had great memories there.
"I had a terrific short period there, the club was broken when I arrived and the supporters wanted a new way of playing. They had a disconnection with the team, we pulled it around, pulled it together and became one club.
"After that there was a big projection for this year and I was to move on. I wouldn't have moved to many other places, it was a great opportunity.
"There are good people and good supporters at Watford. I understand anything that comes my way because it's a good sign that we did a good job there."