Forest are into the Europa League semifinals after a 1-0 win against the Portuguese giants on Thursday night, winning the quarterfinal 2-1 on aggregate.
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Williams said afterwards: "It was a special night.
"The plan coming into the game was to do everything possible to win, and we did that. A professional performance, and we got the job done."
On facing Aston Villa in the semis, he also stated: "If you get to the semi-finals of this competition, whatever team you play will be so tough, whether they are in your league or not - it will be a really tough game.
"But we have confidence and belief and will go into those games with the aim to win."