A 2-2 draw at the Bernabeu on Tuesday night was enough for Real to book a fourth appearance in the final in five years, but mistakes from Bayern led to Zinedine Zidane's side edging past the German outfit.
However, Ramos has said that it was Real who had performed better across both legs, despite conceding early goals in both fixtures and having to hold on to their slender lead.
The 32-year-old is quoted by Marca as saying: "Bayern are a great team as they have been showing for many years, very tough competitors.
"They had more of the ball and we have suffered but overall looking at the two legs, we have been better."
Real will face either Roma or Liverpool in next month's final in Kiev.