Ramos has also paid tribute to Real Madrid's supporters, claiming that the fans "were like an extra player".
"We managed to stay united and soak up the pressure to try and pull it off. We've eliminated a huge team in City. It has taken a lot to get to the final, but we deserve it," Ramos told UEFA.com.
"After such a difficult season we can now enjoy being in a UEFA Champions League final. The team deserved this, and so did the fans, tonight they were like an extra player.
"We will give everything in our souls in another final. The Champions League requires an enormous level of concentration and we have to enjoy this moment now."
Real Madrid will meet city rivals Atletico Madrid on May 28 in a repeat of the 2014 final.