"We have ourselves to blame for allowing Real back into the game, as we missed a couple of sitters," Klopp is quoted as saying by UEFA.com.
"They had a lot to make up for after the first leg, but we deserved to go through on aggregate. We deserve to be in the final."
The 45-year-old said that he would allow his players some free time following the victory.
"I won't stop the team from celebrating," he added. "I'll stay in the hotel though and have a few beers there.
"The players deserve some time off after a game like this. I won't deny them that, what kind of muppet would I be if I did?"
BVB are now likely to take on fellow German outfit Bayern Munich, who take a 4-0 first-leg lead to Barcelona tomorrow, in the final at Wembley on Saturday, May 25.