Sixth seed Kvitova won 7-6 (8-6) 6-1 in the first all-Czech semi-final at a Grand Slam.
The 2011 champion will now face either third seed Simona Halep or 13th seed Eugenie Bouchard in Saturday's final, and is hoping to win a second Grand Slam title.
Kvitova and Safarova are good friends, Fed Cup team-mates and train at the same club in Prostejov.
At 24, Kvitova was the younger by three years, but the senior partner in terms of achievement.
A Grand Slam winner already, she had a 5-0 record against Safarova, a heavier serve and more potent attacking game - but Safarova was far from overawed on her Centre Court debut.
According to the BBC, Kvitova gave her familiar yelp of delight after entering second Grand Slam final.