David Perry was caught up in the bomb blast after driving Emad al-Swealmeen to the city’s maternity hospital on Remembrance Sunday.
He managed to flee the car just before it went up in flames.
In a statement, issued through Greater Manchester Police, Mr Perry condemned the attack as an “evil act” and said that he was grateful that no others were injured.
He also thanked all the staff at the women’s hospital and the medics and police officers who looked after him.
Mr Perry was treated in hospital after the attack but was discharged the same day.
The bomb used in the incident was a homemade device with ball bearings attached to it. It is believed that it did not work as intended and may have gone off prematurely.
Mr Perry said: “On behalf of myself, [my wife] Rachel and our family, we would like to say thank you to everyone for all your get well wishes and for your amazing generosity. We are completely overwhelmed by it.
“A special thanks to the staff at the Liverpool Women’s Hospital, the staff and medical team at Aintree hospital, Merseyside Police and Counter Terrorism Policing, who have all been amazing.”
His statement ended: “I now need time to try to come to terms with what’s happened and focus on my recovery both mentally and physically.
“Please be kind, be vigilant and stay safe.”
Police are still working to understand Al-Swealmeen’s motivation for planning and going through with the bomb attack.
Al-Swealmeen, who died in the blast, had converted to Christianity in the years previous and had been confirmed at Liverpool’s Anglican Cathedral.
He had reportedly arrived in the UK from the Middle East in 2014 and had an application for asylum rejected the following year.
It has been reported that his mother is Iraqi and his father is Jordanian. Al-Swealmeen grew up in a middle-class expat environment in Jordan, Iraq, and Dubai, where his family is today,The Sunday Times reported.
Last week, Mr Perry’s wife posted an update on social media saying David was “doing OK but is extremely sore”. She said he was “just trying to process what’s happened”.
She added: “The explosion happened whilst he was in the car and how he managed to escape is an utter miracle. He certainly had some guardian angels looking over him.”