The Spanish club dominated possession in last week's encounter, but lost out to a strike from Didier Drogba.
"We were the superior team at Stamford Bridge. I don't think the luck will be with Chelsea in the second leg. I think if you judge the game on its merits, then we deserve to reach the final in Munich," Iniesta told reporters.
Chelsea travel to the Nou Camp in the second leg on Tuesday evening.