It is possible you have a tear in your meniscus in your left knee. With that particular injury, the popping sound is literally the torn component getting expelled from the joint when you straighten your leg. I have this particular problem myself due to a re-injury to a surgical repair. Only an orthopedist can diagnose your particular problem, but that's what it sounds like to me.
I'm not sure anyone really knows. Could be that at one time you injured that knee and during that injury, stretched the ligaments holding the leg bones in place, so they have more room to travel within the joint, causing the pop.
But really, there's no way to know. You could have been born this way.
As long as there's no pain or difficulty walking, I doubt if you have much to worry about. I would not recommend that you intentionally pop the knee, but treat it with a little extra care.
That knee may need a little extra support, for instance, with an Ace bandage or knee brace.
If it is causing your trouble, see an orthopedic specialist who can evaluate how much extra travel there is within that leg, and prescribe a proper orthotic if needed.