Bayern lost 2-0 in a shootout after a 1-1 draw in extra-time, ending their hopes of emulating Jupp Heynckes’ side who won the treble in 2013.

But Guardiola felt it was Bayern’s finest performance against their main rivals since he arrived in German football two years ago.

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“I’m proud of my team as never before,” said Guardiola. “You can’t criticise your team when they’ve played so well. I’m very proud of my players. We did everything we could and I’m happy with that.

“We played very well and only had problems for 15 minutes after Mkhitaryan came on. It’s the best we’ve played against BVB in my time here in Germany. We looked a bit tired in the shootout. Congratulations to BVB and best of luck to them for the final.”

Bayern captain Philipp Lahm was one of the unfortunate four Bayern players to miss a penalty, along with Xabi Alonso, Mario Goetze and Manuel Neuer.

Lahm took the first penalty of the shoot-out and lost his footing, as did Alonso when he took the second.

Lahm said: “Obviously you’re going to slip sometimes but it’s agonising when something like that happens in a semi-final. There are certainly better moments to have your standing leg give way.

“We failed to wrap it up in normal and extra time. The luckier team wins in a shootout. It’s a shame we’re not through to the final because we know how wonderful it is. Congratulations to Borussia Dortmund.”

Bayern forward Thomas Mueller added: “We really didn’t do much wrong but we’re going home as losers and I’m gutted. We lost our shape for quarter of an hour, Dortmund created a couple of dangerous situations and scored their goal. And what can you do when your first two penalty takers lose their footing?”

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