I have made an animation from a set of images like this (10 snapshots):
import numpy as np
import matplotlib.pyplot as plt
from matplotlib.patches import Circle
If for whatever reason you need a legend, you can show your Circle as the handle and use some text as the label.
ax.legend(handles=[cir], labels=["{}".format(frame_counter)])
If you don't really need a legend, you can just use some text to place inside the axes.
ax.text(.8,.8, "{}".format(frame_counter), transform=ax.transAxes)