The Tigers beat Sunderland 3-0 at the KC Stadium on Sunday, thanks to second-half goals from Curtis Davies, David Meyler and Matty Fryatt, to set up a final four meeting with the Blades at Wembley on April 12.
"It's a great draw," he told ITV1.
"Sheffield United have had a wonderful run and they've beaten every team in front of them so it's never going to be easy but you've got to be honest and I'm sure Sheffield United were the same as us - you just want to avoid the big boys.
"When you get to quarter-finals and semi-finals, we haven't been there since 1930. That's a bit of the magic of the Cup.
"The magic of the FA Cup for me will never disappear.
"The magic of it when you get to the big quarter-finals, semi-finals, finals - whether you're a player, manager, coach (or) supporter you enjoy the occasion."
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