After suffering an anterior cruciate ligament injury in November 2011, the Brazilian recovered his fitness in time for the opening of the 2012-13 campaign - only to experience a further problem.
But the 26-year-old has featured 23 times under Brendan Rodgers, passing the 200 appearance mark for the club in the process. Now he hopes to be reaching his peak performance.
"I am not there yet but I feel I am getting very close to my best level," Lucas told the Daily Mail.
"It feels like a good time again. I was sure if I worked hard, I could make it happen. I'm very happy it has."
Lucas' difficult journey from the Liverpool substitutes' bench to become a firm Anfield favourite has been well documented by both the Brazilian himself and others in recent years.
The defensive anchor always had confidence that a succession of games would provide an opportunity to impress the Anfield faithful.
He continued: "At first I couldn't speak the language, I didn't have many friends and my family was not here.
"It was a struggle to get to know people and I found it difficult getting involved in the day-to-day things that went on at the club.
"Yes, the food was different and the city was new but I lead a quiet life and those aspects were not too much of a problem. I just felt that if I could handle it all, I'd get there. I needed to be mentally strong.
"It wasn't just about one game. To show people I could play, it was all about feeling comfortable.
"The third season was the breakthrough. When I had the chance to play a lot of games in a row, I really started to develop."