Los Blancos had looked destined to lose the 2014 Champions League Final, having trailed Atleti in second-half stoppage time, but Ramos's late header forced extra time before his side scored three in the additional 30 minutes to secure 'La Decima'.
He is quoted by BBC Sport as saying: "All our team are heroes. With the way the group work you pick up titles.
"The goal is not only mine, it is for all Madrid's people, those who came here or those that stayed at home. We were waiting for this a long time. Today we can finally enjoy it."
Ramos is set to feature in Spain's World Cup campaign starting on June 13.