Yesterday's 3-3 draw with Salernitana marked Pioli's last in charge.
Scaroni told Milan TV: "During the season I always said that Pioli was doing well and I say it now too. We must remember what Stefano did for us, he gave us back the joy of winning a championship, to play in a Champions League semi-final.
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"We are very grateful to the coach but above all to the person that is Stefano Pioli."
On Pioli and the Milan style, he added: "Stefano is a leader capable of keeping everyone together, moderate and never grumpy, a nice and very elegant person. Pioli fully reflects the Milan style."