Liverpool have not qualified for Europe's top competition for the last four seasons.
The Slovakian defender said: "We definitely wouldn't be happy finishing fifth.
"The target for Liverpool must be the top four - and that's what we are all looking to achieve.
"For me, I am at one of the biggest clubs in the world. And I would say that all the players here are proud to play for the club - but everyone has an ambition to play in the Champions League.
"So, it is important to us, as players and for the club's future, that we finish in the top four this season."
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