Liverpool beat Stoke 6-5 in a shootout on Tuesday to reach the final of the League Cup.
Joe Allen scored the decisive penalty and Simon Mignolet made two saves in the shootout as Liverpool advance to face Everton or Manchester City at Wembley Stadium on February 28.
“It’s never easy to get into a final, it will be special,” Liverpool manager Juergen Klopp told Sky Sports.
“Wembley is a cool place to play football. When you are there it’s only good when you win, so we’ll go there to win.”
Stoke, who trailed 1-0 from the first leg, drew level on aggregate on Marko Arnautovic’s goal just before half-time.
Mignolet saved Stoke’s second effort in the shootout from Peter Crouch, but Liverpool’s Emre Can hit the post.
Each team converted their next four attempts before Mignolet dived to stop Marc Muniesa’s kick.
Allen then drilled a shot into the top corner to start the celebration at Anfield.
“In terms of a performance, I thought we merited a win,” Stoke manager Mark Hughes said.
“We got a win on paper – goodness knows how long it’s been since we won here – but the objective was to get to a Wembley final which we didn’t.”
Liverpool will be seeking their ninth League Cup title in their 12th appearance in the final, both records.
“It’s a chance at silverware which is what every player at this club wants,” Allen said.
“We’ll make sure we do everything possible to bring the trophy home.”