Klopp's men produced a sensational second-half comeback from 3-1 down to beat his old side Borussia Dortmund 4-3 at Anfield to reach the last four.
However, the German warned against complacency as, despite their lack of European pedigree compared to the English giants, Villarreal are enjoying a great season.
They sit fourth in La Liga behind perennial powerhouses Barcelona, Real Madrid and Atletico Madrid.
"We have to play brave football," Klopp told Uefa.com.
"We are now in the semifinals. We got there because we deserved it, and now we have to show we are strong enough to go through...........Read
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