Klopp announced on Friday that he will be vacating his post at Anfield at the end of the season, bringing the curtain down on a memorable eight-and-a-half year spell in charge of the Reds.
The 56-year-old has won a total of six major trophies with Liverpool, but Guardiola's Man City side have been a dominant force in the Premier League with triumphs in four of the last five campaigns.
Klopp got the better of Guardiola in the 2019-20 season, though, and successfully steered Liverpool to their first Premier League title, ending the club's 30-year wait for an English top-flight crown.
Guardiola's rivalry with Klopp goes back to their time in Germany with Bayern Munich and Borussia Dortmund respectively, and the former has won 11, drawn six and lost 12 of his 29 encounters with the latter over an 11-year period.
Asked if he will miss his rivalry with Klopp from next season onwards, Guardiola jokingly replied: «I will sleep better. The games against Liverpool have almost been a nightmare.»
«Of course he will be missed,» the Catalan boss continued. «I was shocked like everyone. I felt listening to the news that a part of Man City will lose something.
»We cannot define our period together here without him. We cannot define our period without Liverpool. It's impossible. They've been our biggest rival and personally he's been the best rival I've ever had in my life.
«The Premier League are going to miss him, the charisma and his personality. And especially the way his teams play. It's always been a pleasure to respect his approach, how
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