The US team meet Costa Rica on September 2 at The Home Depot Center in Carson, California before taking on Belgium at the King Baudouin Stadium in Brussels four days later.
Klinsmann has chosen Dempsey for the first time during his reign after the Fulham midfielder missed the August 10 clash with Mexico and has also selected Rangers midfielder Maurice Edu, Everton goalkeeper Tim Howard and LA Galaxy star Landon Donovan.
Klinsmann said he was looking forward to again having the group assembled ahead of the double header.
“We are excited to get the group back together and to see some fresh new faces,” said Klinsmann. “We will continue to get to know the players and gather some valuable information during our 10 days together.
“Hopefully we can continue where we left off from the game against Mexico.”
USA squad for Costa Rica and Belgium friendlies
Carlos Bocanegra (Rangers)
Edgar Castillo (Club America)
Timmy Chandler (FC Nürnberg)
Steve Cherundolo (Hannover)
Clarence Goodson (Brondby)
Zach Loyd (FC Dallas)
Michael Orozco Fiscal (San Luis)
Heath Pearce (Chivas USA)
Tim Ream (New York Red Bulls)
Kyle Beckerman (Real Salt Lake)
Clint Dempsey (Fulham)
Maurice Edu (Rangers)
Fabian Johnson (Hoffenheim)
Sacha Kljestan (Anderlecht)
Jeff Larentowicz (Colorado Rapids)
Robbie Rogers (Columbus Crew)
Brek Shea (FC Dallas)
Jose Torres (Pachuca)