The Germans are in Group C alongside Sweden, Ireland, Austria, the Faroe Islands and Kazakhstan, while reigning world champions Spain were drawn in the same group as France.
"Of course, we are the favourites in this group," Bierhoff told Deutsche Welle. "We are both pleased and fortunate that we will not meet France."
Despite expressing his relief, the former Germany striker warned his side against complacency.
"We must not underestimate the other teams," he warned. "Any qualification group in Europe is always difficult these days.
"We will meet some well-known, recognised opponents. Ireland and Sweden will most certainly be tough and the Austrians will be highly motivated when they play against us."