Long-time captain Derek Jeter always said it was World Series or bust for the New York Yankees, and Aaron Judge is following in his footsteps.

“It’s a failure,’’ Judge said after the Yankees’ season-ending 6-4 loss to the Astros in Game 6 of the ALCS on Saturday night in Houston. “We talked about winning the division and winning the World Series.

“No matter how many games we won during the regular season it is a failure.’’

Judge said the team fought through adversity, but knows there likely will be some changes ahead for the Yankees, who just completed their first decade since the 1910s without a World Series victory.

“I think about the season as a whole, guys getting injured, guys getting back, a lot of ups and downs,” Judge said. “I think about missed opportunities and some guys I might not play with again …”

Though Judge fared much better than many of the Yankees’ hitters, he was not a dominant offensive force in the series. The right fielder went 6-for-25 (.240) with one homer, two RBIs and three walks in the six games.

Judge also said the Yankees did not produce enough timely hits to beat an elite team such as the Astros.

“That’s the biggest thing. We must have left eight or nine guys on base,” a downcast Judge said. They stranded eight.

“Even throughout the whole series, we left a lot of guys on base. They seemed to capitalize on their [opportunities]. And that was the difference in the series.”