The Merseyside outfit are underdogs heading into the showpiece, but Kroos is expecting a difficult fixture, mainly as he knows how tough it is to play against Klopp's system.
During the midfielder's time at Bayern Munich, he came up against Klopp's Borussia Dortmund team numerous times.
"When we played against his team, it was difficult," Kroos told reporters. "At Bayern Munich, we always had a lot of problems against Dortmund.
"We're expecting an aggressive Liverpool who have a really quick forward line, but we can stop them. It will be tough. That is what I expect on Saturday. His teams are always aggressive, they press you a lot – for 90 minutes. They are highly motivated. I expect a very tough game for us but with opportunities to win.
"They will be 11 animals, all up for it. We might be better on the ball but they're going to put us under pressure for 90 minutes and will be at 100% or even more."
Madrid will be looking for their third consecutive Champions League trophy, while Liverpool can claim a sixth European crown for the club.