Liverpool claimed a 2-1 victory over the Manchester City at the Etihad to record a 5-1 aggregate scoreline in the quarter-finals of Europe's elite club competition.
It also marked the third team the Reds inflicted defeat on the Premier League leaders and Klopp's fourth victory over Guardiola in six attempts during his time on Merseyside.
"I really think they are the best team in the world at the moment but I knew we could beat them. We completely deserve to be in the semifinals," he said after the game, as quoted by Sky Sports.
"Everybody wrote me a message -- 'I will watch the game here, I will watch the game there, I will have a beer together with friends...' I would really like to do that as well, to drink a beer and watch a Champions League game. Unfortunately, it is always work.
"It's all good but it's not that you can enjoy it completely, but I don't care who is in [the competition]. We are here and we deserved it, and I am really happy about that."