The Reds will travel to Munich to participate in the biennial Audi Cup tournament at the Allianz Arena on August 1 and 2.
"With this tournament coming 12 or 14 days before our season starts it has very high relevance," said Klopp.
"By then we will have been back in training for more than one month. You can only find out where you are when you play against the best teams. Bayern and Atletico are certainly two of the best."
The identity of the fourth team participating in the tournament will be announced "at a later date".