Needing to beat Middlesbrough to secure their top-four spot, the Reds had a couple of nervous moments at Anfield before winning 3-0.
“Very good, exceptionally good,” Klopp told Sky Sports 1 on the day.
“We did the job, good and solid. It’s been a long, long season. We scored the goals, just good.
“I couldn’t imagine this morning it would be like this. We can enjoy this, congratulations to the team. We did an outstanding job to get a Champions League spot.
“It felt like we had half of the season without lots of key players. I am pleased for the squad, they all deserve it.
“To be ahead of Manchester United and Arsenal is a really hard job. We deserve it.”