Mikel employed some old-fashioned sledging in Saturday night's final before Petr Cech saved Robben's extra-time spot-kick.
"I told him, 'Petr Cech knows where you are going to kick it'," said the Nigerian.
"I just told Robben that he is going to miss it. You know, we just do that sometimes as players."
The midfielder added: "I think when the penalty was missed, we kind of believed that this trophy was going to be ours."