In their last World Cup appearance in 1998, Scotland also faced Brazil and Morocco, but will begin their quest to reach the knockout stage for the first time against tournament debutants Haiti.
After ending a nearly three-decade wait to return to the global stage, Clarke was pleased to avoid fellow European opposition.
"Bring it on. The draw is fantastic," Clarke told the BBC. "One of the big things in my head was no European teams.
"We're playing three top sides from three different continents of the world, and that's what the World Cup is all about. A really good draw."
The clash against Haiti appears to offer Scotland’s best chance of victory before facing 2022 semi-finalists Morocco and five-time winners Brazil in their final two group matches.
"Haiti as the pot four team will be difficult," added Clarke. "They won their qualifying section quite comfortably, but we managed to win ours as well, so bring it on.
"Brazil, especially in a World Cup, is going to be a special occasion. The Brazilian fans are great but the Tartan Army's pretty special as well."