Pep Guardiola leaves Bayern Munich losing in the semifinals of the Champions League in each of his three seasons.

Guardiola's success within Germany has been overwhelming but the inability to even reach a final in Europe will certainly temper his legacy with Bayern.

“It was my aim to achieve this,” Guardiola, who will join Manchester City in the summer, said. “At Barcelona, everyone asked me this question and it has been the same thing here. We have tried our best but it hasn’t worked out. In terms of my period here, it’s up to you what you want to think.

“I think I have helped the players here. I am very satisfied with the performances. Maybe it wasn’t enough but in the end, I am satisfied with everything that has happened here. Everything is good. I have done my best. The players know that.

“I have given my life for this club, from the first minute to the last and we played well tonight. Maybe we played not so well at other times. I am very proud. It was a real honour to train these players. I have really enjoyed it here and I am sure the future at Bayern Munich is perfect with these players.”

Bayern had ample opportunities in the match, particularly a missed penalty kick by Thomas Muller in the 34th minute.

“Titles are just numbers, statistics,” he said. “I wanted to reach the Champions League final here and I didn’t achieve it but it doesn’t change my opinion about the way I have performed. Yes, we are sad now and we want to go to Ingolstadt [on Saturday] to secure the Bundesliga title.

“Is this the biggest disappointment of my career? No. You are disappointed when you don’t play well. It’s a Champions League semi-final. It was the same when I was at Barcelona and we lost to Chelsea [in 2012]. We tried our best to score that night but we didn’t get through.

“Atlético were very defensive. We played to win and we did that. We didn’t score a goal in Madrid and that was the difference. We could have scored three or four tonight. My idea is to attack and go forward. The most important thing is this club has a great future, with great players and a great mentality. I just wish the best for the future at this club and I hope Carlo Ancelotti [the incoming manager] can keep the same level going.”