Bayern Munich's Jerome Boateng (R) in action with Barcelona's Neymar during their UEFA Champions League semifinal match in Munich, Germany, on May 12, 2015. [Photo/Agencies]

Bayern struck back with second-half goals from Robert Lewandowski and Thomas Mueller but were still left needing another three to qualify for the showpiece match.

"We are where we want to be each year, one step from winning everything, and we'll try to take that step," Barca midfielder Andres Iniesta said.

"We can't stop now, we can't be satisfied with what we have achieved already, because in the end the titles are what count and it would be incredible for the fans and the team."