The Blaugrana booked their place in the showpiece of the competition with a 3-1 aggregate win over Real Sociedad following Wednesday's 1-1 draw, while their Clasico rival beat Atletico Madrid 5-0 over two legs.
The Spain international believes the final, which will be played in April at Valencia's Mestalla, will be made all the greater due to the teams' fierce rivalry.
"The most important thing is that we've qualified, it will be a very good match. There's a rivalry between the two teams, and finals are meant to be won," he told the club's official website.
Reflecting on the match, Pique believes that Barca's 2-0 first-leg lead made things awkward for the team in the San Sebastian return, where a Lionel Messi opener was canceled out by Antoine Griezmann.
"We came in with a 2-0 advantage and we didn't know if they were going to attack or defend. It was a good match. We reached the final, that was our advantage," he said.
Finally, the former Manchester United man claimed that his side has coped well after suffering a shock 3-2 loss to Valencia at home on Feb. 1.
"Barca are doing well after the tough blow against Valencia and we have to try to maintain our form throughout the 90 minutes of play," he added.
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- Atletico Madrid
- Real Sociedad