The Spanish side beat the defending champions 4-0 at the Allianz Arena this evening, sealing their place in next month's final in Portugal.
The Welshman, who joined the club at the start of the season for a world record fee, told ITV Sport: "It's a fantastic result for us. We've been working hard, got our tactics right, played well and deserved the win.
"We are happy to be in the final but still have one game to go. Everybody put in 100%, no matter who it was they put in a performance. This is why I wanted to come to the biggest club in the world, to win trophies in massive games.
"We still haven't won it yet, we have a difficult game in the final whoever it may be but I'm looking forward to it."
Real will face either Chelsea or Atletico Madrid in the final.