After Klopp and his team departed Anfield last summer, Lijnders took the reins at RB Salzburg. However, his tenure proved short-lived, ending in December.
Lijnders himself stated a year ago, upon leaving Merseyside, that he wouldn't assist anyone other than Klopp.
What Guardiola said
"I had a long chat with Jürgen," Guardiola revealed, as reported by Sportal. "I mentioned I was considering Pepijn, and he spoke very highly of him.
"I took some time to reflect, and then, of course, I asked Jürgen's permission. I didn't want to interfere with their relationship. I asked if it would be a problem, and he assured me it wouldn't be. A day or two later, we made the final decision."
"I've been fortunate with my assistants throughout my career. They've all contributed immensely and made me a better manager.
I'm confident Kolo Touré, and especially Pepijn, will do the same. We talk a lot about football and training. He inspires me," Guardiola admitted.