Looking at the application there is no problem
We have considered the signature(+,-,-,-)
Indeed v.v=c^2 (v_t)^2- (v_x)^2-(v_y)^2-(v_z)^2=(c^2)v_t^2-|v|^2=c^2
Therefore (c^2)v_t^2-|v|^2]>0
The quantities under the square root sign ,as pointed out , will be positive.That aligns itself with the application.
Thanking Ghideon for his comment.