As a seven-time champion, Novak Djokovic is never going to be lacking in motivation when it comes to Wimbledon. But as he continued his preparations for this year’s event, the 39-year-old said the return of 44-year-old Serena Williams has put an extra spring in his step.

“What she’s doing is inspirational and it’s epic,” said Djokovic, who will join Roger Federer on eight titles if he wins this year. “That’s what I told her. I always admired her career, her journey, her story. Of course, Venus, as well.

“For her to come back after years of being absent from the tour, two children later, and to give so much effort, not just for her own satisfaction or coming back on the tour, but also to give all of us a pleasure of seeing her back on the court – in singles as well as doubles – is remarkable. I told her that whatever happens, what she’s doing is truly inspirational for me personally, I’m sure for millions around the world.

“I see her in the gym more than I have, I think, seen her when she was at her prime. It tells me that she really wants this to work out the best way possible. It’s admirable, honestly, the effort she’s putting in. Of course, all eyes are on her comeback. I just hope that she will enjoy because she really deserves. She created something historical, legendary in her career. She deserves every applause she’s going to get.”

Such is Djokovic’s pedigree that even in his 40th year, he goes into Wimbledon as second favourite, behind the defending champion, Jannik Sinner. That is despite the fact he has played just three events and a total of seven matches since reaching the final at the Australian Open in January.

A shoulder injury caused him to miss the clay-court season until Roland Garros, where he reached the third round before losing in five sets to João Fonseca, the talented young Brazilian many are tipping for the very top.

“Roland Garros was physically very draining, demanding,” he said. “Three matches, all of them went almost four hours. But I’m proud of the effort. I lost in the third round against a 20 years-younger opponent, fought until the end in five sets, almost four and whatever hours that we played. Maybe not the result I was looking for, but the effort was there.

“Anyway, I was planning to peak at Wimbledon. I knew not having any matches, official matches on the tour, going pretty much straight into Roland Garros, was going to be quite difficult. Maybe too big of a challenge for me at the moment. That’s what happened. But I knew that’s going to give me a bit more time to get myself prepared for Wimbledon. So hopefully I’ll have a good tournament here.”

Djokovic begins his campaign on Monday against Wu Yibing of China, a man back inside the world’s top 100 after a couple of years struggling with injuries. In the same half as Sinner, Djokovic may have to get past the Italian if he’s to win again, but he showed in Melbourne that when his body holds up, he is more than capable.

The carrot of a possible 25th grand slam title keeps Djokovic working hard but on grass, less has often been more, at least in terms of match practice. Since 2010, he has only played a warm-up event on three occasions, preferring the odd exhibition match – as he did this week at Hurlingham – and extended time on the practice courts at the All England Club instead.

It is a tried and proven method for success for Djokovic and he seems in a much more contented space than he was when he arrived in Paris, a little unsure of his physical state.

“I’m better prepared here than I was for Roland Garros,” he said. “Obviously playing on grass, comparing to clay, you don’t need to exert as much physical effort. So that’s better for me. I always loved playing on grass. I have a very good history in Wimbledon. That gives me, of course, a higher dose of confidence coming into the tournament.”