Jürgen Klopp has said he hopes to be “the perfect fit” for Liverpool for many years but could leave after winning a trophy unless there remains room for improvement at Anfield.

The Liverpool manager served seven years at Mainz and Borussia Dortmund, his only previous managerial roles, and could do likewise on Merseyside having signed a contract extension to 2022. Klopp believes another long reign is possible with Liverpool but, reflecting on criticism of Arsène Wenger, whom he faces at Arsenal on Friday, he insists all parties must be committed to an extended stay.

“I think Arsène gets a lot of criticism,” he said. “I’ve seen it since I’ve been in England and for sure it’s not right. He’s still there and he’s doing a brilliant job again. Top five, six, fighting for fourth and being involved in different cup competitions – he’s obviously still very ambitious and as long as you feel that, you can stay.

“If you are the only part who likes it, that’s wrong. It needs to be a perfect fit. We feel that here at this moment and I’m sure for the next few years but you cannot force anything to happen. It needs to feel right for everybody. It feels really good at the moment and hopefully it can stay like that long term.”

Klopp doubts it will be possible to replicate the longevity of Wenger or Sir Alex Ferguson in the current Premier League era. He would, however, be content to remain at Liverpool for as long as he felt improvement in the team was possible.

He said: “Could I stay here 20 years? I don’t know. So far after seven years I’ve felt maybe I should move on. A few weeks ago I saw a statistic for the longest-serving coaches in the Bundesliga and I’m the record coach at two clubs: Mainz and Dortmund.

“It would be quite difficult to become the record coach at Liverpool. [I plan to stay] as long as it works really, really well. That means as long as there is space for improvement, because even if you win something, which everyone here is desperately waiting for, it could be the moment I say: ‘OK, but now we have to leave it.’

“So far I think I have a very good feeling for these moments. In both situations I think it was the right moment for both parties, the clubs and me. I don’t feel I am close to that moment and everything is fine but if anyone thinks they can make a career similar to Alex Ferguson or Arsène Wenger at a club, I’m not sure it would be possible with the media of today.”