Milan, who lifted the trophy in 2003, won the semi-final on the away goals rule after losing the second leg 3-1 to PSV.
"There is no point analysing this match and being ironic. We are very lucky to be in the final and we have to look forward now," Ancelotti told reporters after the tie finished 3-3 on aggregate.
"We were planning to start with a high rhythm, keep possession and go for an early goal. We only started playing when we were 2-0 down. Then we really came into the match.
"We are very tired and it was a huge battle for us against a good team."
A pulsating game at the Philips Stadium was heading for extra time after goals from South Korean Park Ji-Sung and Philip Cocu cancelled out the Italian side's 2-0 victory from the first leg at the San Siro.
INTENSE PRESSURE
Six-times European champions Milan had buckled under intense pressure orchestrated by the inspirational Park.
Milan's much-vaunted defence, which had not conceded a goal in seven previous Champions League games, was creaking.
But they broke PSV hearts when Massimo Ambrosini headed home in injury time. The away strike ensured the hosts needed two more goals and, despite another Cocu effort in stoppage time, PSV were out.
Milan's Dutch midfielder Clarence Seedorf said: "We didn't deserve this result. PSV can hold their heads high and look to the future."
PSV coach Guus Hiddink said the defeat was hard to swallow.
"It was a beautiful night but we let it slip out of our hands in the final minutes," said Hiddink, who guided PSV to European Cup glory in 1988 and also masterminded Italy's demise in the 2002 World Cup when coach of South Korea.
"It is very disappointing that you have a world class team like Milan on the ropes but you end up empty handed. The law of football says that you have to concentrate until the final whistle."