The 29-year old saw his 88th minute effort denied by Simon Mignolet during his side's 1-0 defeat at Anfield, taking his tally to five misses from his last 13 attempts.
Walters' unfortunate record has prompted debate as to whether he should continue taking spot-kicks for the Potters, but he insists that he is happy to carry on.
"The manager hasn't said anything but I wouldn't have a problem stepping up again," he told The Daily Mirror.
"I'm sure there are other lads wanting to take penalties, but, if the opportunity came up again, I wouldn't shy away from it.
"It is hard when you miss but I was big enough to take it and if I'm big enough to take the plaudits when I score, I've got to be big enough to take it if I don't.
"After the game I said sorry in the changing room to the lads and that's it."