The return of Benitez, his second as an opposing manager after his previous spell as interim Chelsea boss in 2013, is expected to be warmly welcomed by Anfield.
Klopp is familiar with the situation, having made his return to former club Borussia Dortmund in the Europa League earlier this month, and has no issue with fans celebrating the occasion.
“I really like Rafa, we have met a few times,” said the German.
“From my point of view, if someone wants to celebrate Rafa Benitez in memory of Istanbul or whatever – he is one of the most successful managers at Liverpool – they are very welcome.
“I don’t care about that. If they want, do. Be louder than you have ever been, that is absolutely okay.
“That is how I would say hello to a good old friend, so no-one has to ignore this wonderful moment because I am here now. “Do what you feel and if it is very good, show it.”