Klopp made seven changes to the side beaten for the first time in 45 Premier League games at Watford on Saturday, but still named a far stronger XI than the youthful teams that had seen off Everton and Shrewsbury to reach the fifth round.
However, goals from Willian and Ross Barkley gave Frank Lampard's men a much-needed lift at Stamford Bridge.
"Losing 2-0 is not good, but it is relatively easy to explain. We made two massive mistakes around the goals," said Klopp.
Liverpool remain well on course for a first league title in 30 years with a 22-point lead at the top of the Premier League, but run the risk of their competitive campaign coming to an early end once the title is sewn up unless they can overturn a 1-0 first leg deficit against Atletico Madrid in the Champions League next week.
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