Leinster beat London Wasps 48-28 to seal a place in the last four, where they will play Biarritz.
The 33-year-old told the club's website: "I think we'd be proud of the attacking side of it, we gave away a few too many tries. But straight after the match, we're pretty happy with the win and getting through to the next round.
"You never want to let a game get that much of your control, particularly with the pace that Wasps had out wide. We saw that first hand with [Christian] Wade and [Tom] Varndell and others getting their hands on the ball.
"I've played here before and been on the other end of a result, so I know how tought it is to win here. When you win here, you really do deserve it. It was a great game of rugby and thankfully we were on the right side of the result."
D'Arcy scored Leinster's opening try in the match.