Firmino has been granted an additional period of rest following his exertions for Brazil at the 2018 World Cup.
As a result, the centre-forward will miss his club's three International Champions Cup matches, and will instead link up with his teammates in France at the end of July.
"Bobby will be in for the second camp," Klopp told Liverpool's official website. "Then we have the English guys, Simon [Mignolet] and Dejan [Lovren] to come another week later.
"We'll already be back from France and will have exactly one week to prepare [for] the game [against West Ham]. That's no problem."
Liverpool will face Bury and Blackburn Rovers in pre-season friendlies before their first International Champions Cup game against Borussia Dortmund on July 22.