Williams was pregnant when she won the Australian Open in January, moving within one Slam singles crown of Margaret Court's all-time record, and revealed in April on Twitter she was having a baby and would not play again this year.
The six-time US Open champion was excited for fellow Americans Sloane Stephens and Madison Keys, whose Saturday showdown for the title at Arthur Ashe Stadium will be the first Grand Slam final for each of them.
"These amazing women continue to change the game and bring excellence, power, finesse and change to tennis.
"What a joy it will be to watch this- hopefully first of many finals. Let's go ladies!"
In Thursday's semi-finals, Stephens ousted Serena's older sister Venus, a seven-time Grand Slam champion who had been seeking her third US Open crown and first since 2001.