The Belgium international, who joined the Reds last month for a fee in the region of £11m from Sunderland, has stated that he is used to having to earn his place in the side.
"That's always what has happened when there's competition," he told ESPN."I've had competition in Sunderland and in Belgium with the national team.
"It's not only Pepe - there's a lot of good goalies at Liverpool, like Brad Jones for example - and it's not only the position of the goalie where there is competition. It's every single position on the field.
"Competition can only make you as an individual better and let you perform better. It can only be a positive thing."
Mignolet played in all of Sunderland's Premier League games last season.