Last season's beaten finalists have been paired with Dutch champions Ajax Amsterdam, Napoli and British neighbours Rangers in a tough-looking group A.
Liverpool will be looking to go one better than last season when they lost 1-0 to Real Madrid in the final in Paris.
Klopp is excited by the prospect of coming up against such strong opponents and cannot wait for the games to begin.
"The first thing to say is this is a proper, proper challenge," the Liverpool manager told the club's official website. "All of the clubs have quality, they all have pedigree and I would say they all have a chance.
"The good thing is that we do also, so it makes sense for us to look forward to the challenge and give it a try.
"We did not ask for any favours and we have not been given any, but this is not a competition where you can look for easy ways through because the standard is always unbelievably high.
"The difference this year is that the group stage will be shorter than usual, so we will have to be ready not just for the quality of the opposition, but also for the different demands and rhythms.
"The only certainty right now is that all of the six games will be incredibly competitive and really intense. I'm excited about it. It is a proper football group and, like I said, a proper challenge."
