Klopp's Reds wrapped up their campaign with a ninth successive win - a comfortable 2-0 home defeat of Wolves - but it was still not enough to supplant City at the top of the table.
By winning their final fixture at Brighton, Pep Guardiola's imperious City climbed to 98 points and rendered the Liverpool result academic.
Klopp was quick to praise City for an outstanding season, but also saluted his own players and says the foundations are now there to build for years to come.
"Congratulations to Manchester City. They had an incredible season. We did as well but they won it.
"We had an unbelievable season. I can read all the numbers. It would be nice to get an award for the biggest development I can remember - we made a big step.
"Everybody knows we will go again but if you really want something, you feel the disappointment as well. That is what we feel.
"But I am not worried that this is as good as it can be. As long as Manchester City are around with their financial power, no team will pass them easily.
"We need to be very close to perfection to win the Premier League as long as this is the case. There is more to come from us. If we are ready to make the next step, we will. That is the plan."