Mignolet moved to Anfield from Sunderland for a reported £9 million fee in June before outlining his ambition to usurp the current No.1 - who has missed just 20 league games in eight seasons.
"That was the idea for the summer [competition for places]," Rodgers told talkSPORT.
|2/1||Liverpool are 2/1 with bet365 to finish in the top four
"Simon Mignolet's been a top keeper for the last few seasons now in the Premier League and Pepe Reina's been here for a number of years and been an outstanding keeper but in every position on the field there has to be competition to push people's performances."
Rodgers, although, has no regrets regarding the departure of Andy Carroll to West Ham, insisting his now-permanent departure has aided Luis Suarez's attacking output.
"That was a decision that needed to be made,” he said. "Luis benefited from that and went on to have a terrific season.
"Andy went out and did really well on loan and obviously [West Ham manager Sam Allardyce] came in and wanted to buy him.
“He's a good, big guy, he'll go away and do really well for West Ham. As a manager you have to make a decision and that's what I did."