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.
Alisson Becker: Got a foot and a hand to Sterling’s close-range effort but could not keep it out. Remained composed when faced with a second-half Sterling one-on-one. 6
Trent Alexander-Arnold: Took a while to get to grips with Raheem Sterling once the City forward was moved wide. Did not threaten with his delivery and had a frustrating afternoon. 5
Joe Gomez: Recovered from an early loss of possession to Sterling which almost led to a goal. Pace a big asset in getting him out of trouble. Seamlessly switched to right-back. 6
Virgil Van Dijk: Not quite the dominant force Liverpool fans have become used to as City swarmed forward early on but recovered his composure. 7
Andy Robertson: Restricted in his forward runs by the threat of Bernardo Silva. More adventurous after the break and Liverpool were better for it. 6
Jordan Henderson: Controlled rather than dynamic performance in midfield but had to factor in defensive duties. 6
Fabinho: Could not impose himself defensively as he would have liked. Had few opportunities to express his passing range. 5
Georginio Wijnaldum: Was the most willing of the midfield three to support the attack but was not utilised enough. Played holding role for final 20 minutes. 5
Mohamed Salah: Could arguably have had a first-half hat-trick had his radar been switched on. Maintained his threat after the break and could – and probably should – have had at least one goal. 8
Roberto Firmino: One of Liverpool’s best two performers. Only returned at the start of the week but showed he had lost none of his touch or vision. 7
Divock Origi: Drifted in and out of the game and did not get much change out of Kyle Walker. Provided no real threat. 4
Naby Keita (for Fabinho, 67): Had a shot parried by Bravo but should probably have done better. Added some drive. 7
Joel Matip (for Alexander-Arnold, 67): Made his impact in the opposition penalty area with a headed equaliser. Outmuscled Jesus in one individual duel. 7
Alex Oxlade-Chamberlain (for Origi, 79): Found it difficult to get involved as the pace became increasingly hectic. 5
Adam Lallana (for Henderson, 79): Had some good touches but nothing clinical. 5
Xherdan Shaqiri (for Firmino, 79): Little chance to impose himself but had one late shot saved. 5
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