Liverpool came back from 3-0 down in the first leg to beat Barcelona 4-3 on aggregate.
A brace apiece from Divock Origi and Georginio Wijnaldum led the hosts to another historic night at Anfield.
In an interview with BT Sport after the match, Klopp swore when praising his Reds players.
“These boys are f***ing giants,” the German said.
“Fine me for swearing if you want. These boys are GIANTS.”
When BT cut back to their studio, Lineker had been asked to apologise for Klopp’s language.
But the former England and Barcelona striker refused, claiming the Liverpool boss was entitled to swear.
“Well he’s certainly getting quite excited there,” Lineker said.
“I’ve been asked to apologise on behalf – I’m not going to.
“I think he’s perfectly entitled to after that.
“He can get away with it, it’s after 10 o’clock, after the watershed, well done Jurgen.”
On the incident, former Manchester United defender Rio Ferdinand said: “He said he’s going to get fined.
“He’ll take the fine, I don’t think he will be bothered.
“But after a performance like that, that’s what it does. It sends you into craziness.”
Liverpool will play either Ajax or Tottenham in the final in Madrid on June 1.
Ajax lead their tie 1-0 after the first leg.