A 3-0 win at the Camp Nou on Wednesday night saw the Germans thrash their Spanish opponents 7-0 on aggregate.
"I think it was clearly noticeable that my team entered this game extremely focused," Heynckes told Sky Sports News. "We played great right from the start.
"My team understood our tactical approach very well and they executed it perfectly."
Bayern will face domestic rivals Borussia Dortmund in the Champions League final at Wembley Stadium on May 25.