For a goalless stalemate, the meeting at Wembley was filled with excitement and controversy.
Chelsea - who had three goals disallowed for offside - had an early chance to go ahead through Christian Pulisic, but the American's side-footed shot was saved smartly by Caoimhin Kelleher, who started in place of Alisson Becker.
Edouard Mendy was then called into action towards the end of the first half when he produced a double save to deny Naby Keita and Sadio Mane.
Mason Mount had by far the best chance of the opening stanza after connecting on a cross from Kai Havertz, only to send his volley narrowly wide.
It didn't get any better for Mount as he was gifted an enormous amount of time in a one-on-one with Kelleher after being put through by Pulisic.
But the Englishman was only able to hit the inside of the post, leaving Thomas Tuchel visibly frustrated on the sidelines.
The chance seemed to spark Liverpool back to life and Mohamed Salah should have broken the deadlock after a one-on-one with Mendy.
VAR then denied Liverpool the opener when Joel Matip's header was ruled out for a foul on Reece James.
Both goalkeepers stood up big in the final 30 minutes to ensure the game went beyond normal time, which is perhaps why it seemed strange when Mendy was replaced by Kepa Arrizabalaga.
Although the plan had worked before for Tuchel, this time it backfired as Kepa missed the decisive penalty after Kelleher had converted for Liverpool.
Speaking to Sky Sports - via the BBC -after the game, Klopp hailed 23-year-old Kelleher for his performance.
"Even in professional football there should be space for some sentiment," Klopp said. "Caoimhin Kelleher is a young boy, plays in all the competition, what do I do? I am two things, a professional manager and a human being and the human being won. He deserves it.
"At the training centre we have a wall that all goalkeepers are on who won something and Caoimhin can go on it - that's how it should be - absolutely great.
"I am happy for the people to celebrate something like this. Chelsea are incredibly strong, we matched each other.
"That is the start, we are not silly. We need to have luck - we had luck, that could have been 5-5.
"I'm fine now but I would have been fine with 90 minutes and 1-0 to Liverpool and we go home. I am happy for the people in dark times to celebrate something like this.
"We have to work hard. We play on Wednesday again, which I cannot believe now. We will give it a try. It is a home game and it will be rocking because of tonight."
Need a VPN? Or seeking to switch? Then support Tribal Football by clicking here to sign up with our official partners NordVPN. Not only will you receive the best VPN experience, but also great discounts by signing up via Tribal Football. Thanks for your support!
