The journalist took over from former co-host Ann Curry on Monday morning, and expressed her happiness at the opportunity during the broadcast.
Guthrie was welcomed by Today staff with on-air jokes, including an old video clip of her covering a Bob Dylan track. Friends and colleagues also shared their well-wishes during the introduction.
"It was just such a warm welcome, and how could you not feel really good after that? I'm thankful and excited for the future," Guthrie told People.
During the broadcast, Guthrie paid tribute to the women who had held her position before, saying: "I just want to say that I'm so proud and honoured to be in a place occupied by so many women I admire."
It was recently reported that Lauer supported the decision to replace Curry from the Today show lineup.