Rallies have been organised in capital cities ahead of Mr Herzog's visit, which starts on Monday, with police in Sydney vowing to crack down on unauthorised protest action.
Mr Albanese said he and Mr Herzog would meet with the families of Bondi massacre victims during the five-day tour.
"I hope that people are respectful of the fact that this is a difficult time for families, particularly in the Bondi community, from the Chabad community there," he told a press conference in Perth on Saturday.
Mr Herzog has also defended the tour, saying his visit is important to the Australian Jewish community reeling from the attack.
Protesters and human rights experts have called for Mr Herzog's invitation to be rescinded, citing his culpability in Israel's bombardment and starvation of Palestinians in Gaza.
"We cannot allow Herzog's propaganda tour for the State of Israel to go ahead. We cannot allow genocide to be normalised," said the Palestine Action Group's Josh Lees.
Mr Herzog has previously said Palestinians bore collective blame for Hamas' attack on Israel on October 7, 2023, before later clarifying his remarks.
A United Nations Human Rights Council commission of inquiry in September found the statement might reasonably have been interpreted as inciting genocide.
The NSW government has approved special event public safety arrangements to bolster the number of police deployed during Mr Herzog's visit.
Anyone who fails to comply with police directions will face penalties including fines of up to $5500.
A protest march from Sydney Town Hall through the city has been declared an unauthorised route, but several members of parliament have urged police to allow the rally to proceed.
