By FOX Sports Staff
The duo got into a war of words after Rafinha was sent off for collecting a second yellow card when the right-back elbowed Jakub Błaszczykowski inside the box.
Klopp was not happy with the challenge and made his opinions known to the Brazilian but found Sammer coming to his player's rescue.
It marked a surprisingly heated encounter that saw goals scored by Mario Gomez and Kevin Grosskreutz as well as five players booked for the visitors at the Westfalenstadion.
"It's normal for these things to happen," said Klopp after the game. "People were talking about a friendly but once the game gets under way, it's different. It was a tough battle, situations arise, these things happen.
"I told Rafinha that he should stay away from Jakub, Sammer then told me that I should not talk to the players. Then I said that Rafinha poked him in the face.
"We started very well, but there were too many moments where we played far too little football.
"We got a point, the point that we needed to make sure we finish second, so we have reached a goal for the season."
The Bundesliga giants are set to do battle in the Champions League final on May 25 and this particular league fixture was therefore thrust under the spotlight.
However, both sides opted to rest their star players after a gruelling campaign and seemed content to come away with the point. Despite the lack of star names such as Thomas Muller and Mario Gotze on the starting line-ups, it was still an entertaining encounter for those in attendance.
"Beforehand, people said that it would be a boring match with so many Bayern players missing, but that clearly wasn't the case," Bayern manager Jupp Heynckes observed.
The draw also marked the end of Bayern's 14-game winning streak in the Bundesliga this year.