The Cameroonian centre-back had a couple of shaky moments in the first half at the Emirates and was hooked at half time, with Ibrahima Konate taking his place.
Matip's substitution was initially thought to have been a tactical change, but Klopp has now confirmed that the 30-year-old was taken off as a precaution.
Speaking to the press ahead of Sunday's Premier League showdown with Crystal Palace, Klopp said: "No, Joel was not tactical. My God, how good was Joel.
"We thought something is not 100 per cent right and you can change five times, it's not a situation where you ask, 'What [can we do?] – we had Ibou and Joe on the bench, so we just changed. Nothing else."