The Galatasaray player, who made 108 appearances for Liverpool during a three-and-a-half-year stint at Anfield, netted both goals in the first half of the friendly in Istanbul on Thursday night, as Kenny Dalglish’s side sunk to their second 3-0 pre-season defeat in five days.
The Champions League winner with the Reds said he is proud to have been part of Liverpool’s history and wished further success in the coming season.
"It is always nice to play against a team who you have played for. I was happy I scored and I think we played well," the striker told the club’s official website.
"I wish Liverpool all the best for the season.
"This is my fourth season here at Galatasaray and I am really happy. We didn't play well last season, but now we've signed some good players and I hope it's going to be better than last year.
"Of course I still look out for Liverpool's results. I always follow them because I am a big supporter of Liverpool. I spent three and a half years there and won the Champions League.
"I think it (the Champions League final) is the greatest game I have ever played in. Especially when we were 3-0 down at half-time and still managed to win. It was a special night and I think it was my best night in my football career.
"Liverpool will always stay in my heart. I hope they are going to play better than last year and they'll be closer to the top four and play for the title."
The Czech striker believes Dalglish has vastly improved the squad since taking over from Roy Hodgson and is looking forward to seeing the club’s new signings in competitive action.
"The new signings add more quality to the team," said Baros.
"The English league is very tough, but if everyone is going to be fit like Stevie G [Gerrard], Carra [Jamie Carragher] and all of the new players, I think they have a chance to be back up there."
One player has impressed the 29-year-old in particular, that being Copa America star Luis Suarez.
He added: "You saw him at Ajax and for the national team and it was clear he had quality.
"He is a great player and is still young, so he can still improve. I think he will be a great player in Liverpool's future."
Baros is hoping for a return to Anfield in the not too distant future and says he would love to play against his former side in front of their home crowd.
He said: "Liverpool fans have always been nice to me. I hope I can come back to Anfield one time and I can clap the fans.
"I hope they will be happy with the players, the team and the results and they will enjoy trophies again."