The two teams were separated by just one point in the Premier League last term and it took a shootout to split them in the season opener at Wembley as it was 1-1 after 90 minutes.
Goalkeeper Claudio Bravo made the decisive intervention, saving Liverpool’s second penalty from Georginio Wijnaldum.
City had led for most of normal time after former Liverpool forward Raheem Sterling scored against his old club for the first time in the 12th minute.
Champions League winners Liverpool responded well and went close several times before substitute Joel Matip levelled 13 minutes from time.
Claudio Bravo: Had one first-half save of note to make from Firmino. Did his utmost to prevent Salah from scoring on several occasions. 7
Kyle Walker: Had Origi well covered and when he did not had the pace to recover. Added-time goalline clearance prevented certain Salah goal. 7
John Stones: Steady performance from the centre-back, although found the going tougher when pressed in the second half. 6
Nicolas Otamendi: Found Firmino’s movement and touch tricky to handle. Did not look comfortable. 5
Oleksandr Zinchenko: Given a serious test by Salah and not one he looked entirely capable of dealing with. 5
Rodrigo: Held things together on his first experience of English football. Made some good tackles. 6
Kevin De Bruyne: Found his passing range early on and seemed to have more space than most in a crowded midfield. Could not quite find the killer pass to finish off Liverpool. 7
David Silva: Usual tidy work with the ball but probably not at his penetrative, influential best. 6
Bernardo Silva: Lively outlet down the right, keeping the usually marauding Robertson in his place. Appears to have carried over last season’s form matched by his incredible work-rate. 7
Raheem Sterling: Impressive opening. In the right place to score opening goal and was even more threatening when moved to his more familiar wide left role. Wasted a brilliant one-on-one in second half. 7
Leroy Sane: Shot into the side-netting when he should have hit the target. Knee injury forced substitution after just 13 minutes. 4
Gabriel Jesus (for Sane, 13): Lacked the early threat Sterling posed in the central role. Looked off the pace having only rejoined training this week. 4
Ilkay Gundogan (for David Silva, 60): Introduced at a time when the tide was turning and found it difficult to gain a foothold. 5
Phil Foden (for De Bruyne, 89): No time to make a difference. 4
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