The two sides meet at Stamford Bridge on Wednesday, with both clubs needing a win to take a step towards earning qualification to Europe's elite tournament.
Spurs finished above the Blues in the Premier League last year, only for Chelsea's European triumph to snatch the final English place away from them, and Bale is looking to avenge their misfortune.
"I think I was more annoyed than anything else watching that Champions League final and seeing all our hard work wasted," Bale told The Sun. "I thought Bayern battered Chelsea but it was one of those nights which you couldn't control. What happened has driven us on and we've used that as an incentive this year.
"If we win all our games there's nothing which can stop us qualifying, so it's up to us. We've had a taste of the Champions League before and I know how much everyone wants it.
"We need to keep our focus on what needs to be done and finish the job off."
Spurs travel to face Chelsea in the Premier League on Wednesday night.