The German is leaving Liverpool after nine years in charge.
As he celebrated a fourth consecutive Premier League title, Guardiola said: "I will really miss him.
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"Jrgen has been a very important part of my life. He has pushed me to another level as a coach. I feel that we respect each other very much."
Guardiola hopes Klopp's break won't be long.
"I have a feeling that he will come back and I just want to thank him so much for his words about me (that Pep is the best coach in the world)," said the Spaniard.
"He knows very well that there are many behind me in this club, because I have not been able to do it alone. I wish him the best of luck and hope his last game was special. He deserves it."