The 24-year-old anticipated meeting his former team before the Champions League draw.
"I spoke to my parents (after the draw) and I already knew and my parents even told me that you will get Roma," Rudiger said.
"I was happy and I am happy to go to Rome, to go there and play against my old team because I have a big respect. I had two wonderful years there with ups and downs, with injuries.
"They were standing always behind me, the players, the team, the board and the fans."
Chelsea will be hoping to extend their three-match winning streak in all competitions against Roma and in the league game against second-placed Manchester United on Sunday.
(Reporting by Aditi Prakash in Bengaluru, editing by Ed Osmond)
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