The Brazilian has been struggling with a groin problem, putting his involvement from the start at the Wanda Metropolitano in doubt.
But Klopp has now revealed Firmino will be fine to make it from the first whistle, before making an vow to reveal his starting line-up if Mauricio Pochettino does.
"As it is, Firmino is fit and ready. He will train later. He should be fine," Klopp said.
"If Poch tells you his exact line up later, call me, and then I'll tell you mine!"
Liverpool's route to the Champions League final
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Klopp also dismissed any talk about his record in finals - he has lost his last six - and does not believe winning them has anything to do with luck or fate.
"If I would be the reason for losing six finals in a row then everyone should worry," Klopp said.
Roberto Firmino is fit to play in Madrid from the start (AFP/Getty)
"Do you think I have an unlucky career? All my career was not unlucky, I am probably the world record holder in the last seven years in winning semi-finals. If I were to write a book about it probably no-one would buy it.
"It could have been better, it could have been worse. I am fine."
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