Juventus had managed a 1-1 draw away in the first leg in Milan and progressed to the decider against either Napoli or Inter Milan on away goals.
The Old Lady came closest to a second leg winner when Cristiano Ronaldo hit the upright with a 16th minute penalty after a handball from Andrea Conti from a corner.
Moments after Ronaldo failed from the spot, AC Milan forward Ante Rebic was sent off for a ‘kung fu’ kick which Pioli labelled naive.
“We were naive with the penalty and red card, but then played very well and had two or three chances to score, if those had gone in,” Pioli said.
“It was a very narrow difference over the two legs, they both ended with draws, it’s just that by conceding at home, we were then forced to score in the second leg.
“We held out exceptionally in defence, especially the centre-backs, and that must show us that we can be solid, because we need these skills going forward for the rest of the season.”
Juve boss Maurizio Sarri was delighted to have football back after his side were heavily impacted by the coronavirus outbreak with numerous players contracting the virus, including Paulo Dybala who put in a full shift in attack.
“It’s a great feeling to be back on the bench and seeing the team on the field after three months, even if we missed the fans. It was not easy for anyone,” Sarri said.
“The players have been on their sofas for weeks, and so getting them back to complete physical and mental efficiency is not simple or automatic.
“It is much worse than a pre-season situation, because in that case, the players are less firm and above all remain active. It will take a little patience, but tonight’s premise, in the first half hour, was important.”
He also refused to criticise Ronaldo for his penalty miss or performance which wasn’t quite at his usual standards.
“Ronaldo? He made himself available, he also suffered a bit towards the end but played the match that needed to be done,” Sarri said. “The missed penalty was unfortunate.”
Napoli and Inter Milan play on Saturday night in the other semi final.