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"I didn't watch it back until this weekend. The thing I realised immediately was why I didn't watch it back but I had to - it was proper torture," he said.
"We played a good game and could have won the game. They scored a decisive goal and we didn't, and that was the reason.
"You could see how experienced Madrid is, how little they are fussed when the other team has chances, they don't lose confidence, they know their chance will come.
"This is that team, the competition and you can learn from them, definitely. But that's six, eight months ago. Before that, we played there on the training ground and here in an empty stadium. Here, it was a really good 0-0, we let them work hard and that was good.
"But this is now, same clubs, different teams, different times. There's a history in the last few years. One of us was always in the final, that's how it feels at least, and usually if you go to the final you have to kick us out or them, this time we play each other, let's see who goes through."
Klopp defends Vinicius: 'Nothing justifies racism'
Klopp insisted there is "nothing in the world that could justify" Real Madrid forward Vinicius Junior being targeted with racist abuse.LaLiga is investigating alleged racist abuse of Vinicius by a fan at Mallorca earlier this month following an effigy of the 22-year-old being hung from a motorway hours before Real's Copa del Rey tie against Atletico Madrid in January.