Los Blancos scored five times without reply over the two legs to book their spot in the final of the competition next month.
"This was an important victory for me and for all the Madrid fans, after all these years being on the cusp of the final," he told reporters.
"This was an emotional step into the finals we needed it. We knew how important this match was and we did our homework. We worked really hard on dead balls and we were untied."
Madrid have not won the European Cup since 2002.