They are the first team since Everton in 1966 to reach the final without conceding a goal.
“It is the fourth season in a row that we are in the semi-finals. We didn’t win in the past but today we did well,” Guardiola said.
“We can’t forget that we were in Munich three days ago. It could have been tough. We had to perform well and we did it. All the players who came in were perfect.
“I’m really pleased to see the club return to the finals after many years.”
On Mahrez’s match-winning contribution, Guardiola said: “Riyad is angry with me all the time when he doesn’t play. He notices me.
“When he plays, he’s there, that’s the most important. He’s a big level player. I’m very satisfied for Riyad.”