On a frenetic final day on Sunday, the two leading sides had to come from behind to win their respective games.
Liverpool went down at home to Wolverhampton Wanderers but rallied to win 3-1 on the day while Manchester City took inspiration from their remarkable 2012 title triumph to come from two goals down to emerge 3-2 winners over Aston Villa at the Etihad Stadium.
It meant Manchester City finished on 93 points, one point better than Liverpool, to win the title for the fourth time in five seasons.
"Congratulations to Man City and Pep Guardiola. Thank you to Aston Villa and Wolverhampton for making a proper game of it," Klopp said to Sky Sports.
"It's not the result we wanted. It was a bit of a rollercoaster. I don't know the results exactly but I know [Villa] were 1-0 up – were they 2-0 up as well? Of course at the moment there's disappointment here as well.
"If it's 5-0 to City after 10 minutes it's just a normal game for us. It wasn't our best game either, but it's all good. 92 points is absolutely incredible. We wanted it all, but now it's OK.
"[Finishing second] is the story of my life. I'm still record holder for not getting promoted in Germany with the highest points tally. You need to get more points than any other teams, but we didn't do that.
"You can't do more than give your absolute best and that's what the boys did again. We chased the best team in the world to the wire, that's absolutely special. We'll build a team again and go again."
