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However, you don't have to do this up-front. You can simply clone, fork, and submit your pull-request as usual.
When your pull-request is created, it is checked by a CLA bot, which will tell you how to sign a CLA if necessary. Once you have signed it, all future pull-requests will not require you to sign a new CLA.
Creating a pull request
To enable us to quickly review and accept your pull requests, always open one pull request per issue and link the issue in the pull request description (check what the status of the issue is, e.g. if the issue is still being triaged then it is premature to work on the issue; helping triage would be more helpful in that instance). If there is no preexisting issue for your pull request, go ahead and create one. Do note that if you do not discuss how you plan to solve the issue you do run the risk of us rejecting your PR over design considerations.
Be sure to follow our coding guidelines and keep code changes as small as possible. Avoid pure formatting changes to code that has not been modified otherwise. Pull requests should contain tests whenever possible.
There are pull request status checks that try to enforce some of this, so please make sure your pull request passes all checks.