Karim Benzema netted the winner of the semifinal first-leg.
Guardiola defended his team's tactics, when asked if they should have played in a more direct manner.
"The faster the ball goes forward, the faster Madrid bring it back to us," he said. "Madrid's virtue is that they are so quick on the counter-attack, they are unstoppable in that sense. Their players are footballers but they are like athletes, so playing back and forth is a risk."
However, former Bayern player and coach and honourary president Franz Beckenbauer was less impressed.
He told Sky television: "Possession doesn't mean anything when your opponents create the better chances. We are lucky they only scored one."
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