The Reds qualified for Europe’s premier club competition thanks to their fourth-placed finish in their first full season under Klopp.
The Merseyside outfit were 6-4 winners against Bundesliga outfit Hoffenheim in the playoff round to secure a place in the group stage.
Liverpool FC finished top of their group ahead of Sevilla, Spartak Moscow and Maribor, including two 7-0 victories.
The Reds were 5-0 winners against FC Porto in the first leg of their last-16 clash in Portugal before a goalless draw in the return fixture.
Liverpool FC sprung a surprise with a resounding 3-0 win against Manchester City at Anfield earlier this month to put them in control.
The Reds managed to recover from Gabriel Jesus’ early goal at The Etihad to win 2-1 on the night to reach the semi-finals.
Former Liverpool FC defender Lawrenson claimed that Klopp was always confident that the Reds could win in the Champions League.
“Klopp’s teams in the Champions League have been his best teams,” Lawrenson told Irish radio station Newstalk.
“He kept playing his best teams in the Champions League regardless if it was sandwiched between Man United at home or Man City away.
“He always thought Liverpool could go all the way. He was convinced about it.”
Liverpool FC are in third place in the Premier League table and on course to finish in the Champions League in successive seasons.
MORE: Man United latest news
MORE: Arsenal latest news
MORE: Chelsea latest news
MORE: Liverpool latest news