Curry converted a three-point play with 1:33 left and scored again with 29 seconds remaining to send the Warriors on to the second round in the Western Conference.
Jokic scored 12 of his 30 points in the final 3:46 and finished with 19 rebounds and eight assists.
The Warriors advance to play the winner of the Memphis-Minnesota, with the Grizzlies up 3-2 going into Game 6 on Friday night in Minneapolis. Memphis eliminated Golden State in the play-in round last year.
Jokic tied it at 90 on an 18-footer with 2:26 remaining before Golden State’s Gary Payton II made a layup moments later. Payton also hit a go-ahead 3-pointer from the baseline corner in front of Denver’s bench with 6:57 left to put Golden State up 86-84. He finished with 15.