The Algerian blazed his spot-kick over the bar – making it just two goals from his last six attempts from 12 yards.
Usual taker Sergio Aguero was already on the bench when Mahrez took the ball from Gabriel Jesus in the 85th-minute.
After the 0-0 bore draw, Guardiola said: "He had the courage to hit the penalty.
"In training he shoot perfect penalties but, OK, sometimes it happens. It is what it is.
"The taker was Sergio but Sergio was not there.
"Sometimes it happens. We had our chances in the last minutes to win the game but it didn't happen."
Guardiola admitted his side could have taken three points from Anfield – but insisted he was happy with a draw.
He added: "We controlled them in terms of counter attacks with Mane and Salah. The back four was so good.
"After that we didn't create too much.
"In the last moment we had our opportunity but it is a good result."
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