Firmino missed Liverpool's memorable semi-final win over Barcelona and the final game of the Premier League season against Wolverhampton Wanderers with a muscle strain but he has responded well to his return to training said Klopp.
"Bobby was part of training last week then we took him out and will be in training from tomorrow again. From what we saw so far he looked good. He will be fine, I'm sure," the German told a news conference on Tuesday.
Guinea midfielder Naby Keita is recovering well from his thigh injury but Klopp said he had no chance to be involved.
Liverpool return to the final following their defeat to Real Madrid in last year's showpiece in Kiev. Klopp said they were fired up for the occasion but played down talk of them having more big-game experience than Spurs.
"We are all very excited about having a chance again. We are probably the more experienced, but it doesn't really make a difference," he said.
"It's about using the things that brought you to the final. So far we have controlled our emotions in a really good way."
(Reporting by Simon Evans; Editing by Christian Radnedge)
