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Mikel Arteta said he could not be prouder of Arsenal’s players and supporters after they sealed a place in the second Champions League final in the club’s history. Bukayo Saka’s goal just before half-time was enough to secure victory over Atlético Madrid in the semi-final and means Arsenal will face a formidable task against ­Bayern Munich or Paris Saint-Germain in Budapest later this month.

The Atlético substitute Alexander Sørloth spurned a brilliant opportunity to take the tie into extra-time four minutes from the end but the Spanish side could not find a way past an Arsenal defence that has only conceded three goals in seven home matches in this competition and remains unbeaten in 14 matches so far.

Arteta celebrated with his staff at the full-time whistle before leading his players on a lap of honour at a raucous Emirates 20 years after Arsène Wenger led them to their first Champions League final. Thousands of Arsenal supporters got to the ground two hours before the game to welcome the team bus, with a giant tifo that read: “Over land and sea” unveiled before kick-off.

“An incredible night,” said Arteta. “We made history again together and I cannot be more proud for everyone. The way that we were welcomed outside the stadium was special and unique. The atmosphere, our support has created the energy, the way they managed every ball with us, they made it special and unique, I never felt that in the stadium.

“We knew how much it meant to everybody. The boys did an incredible job and after 20 years and a second time in our history, we are back in the Champions League final.”

Saka, who has now scored in his last two appearances after missing six weeks with an achilles injury, added: “It started before the game when we were arriving on the coach. I have never seen anything like it. It is a beautiful story and I hope it ends well in Budapest.”

Manchester City’s draw with Everton on Monday also means Arsenal are in pole position to win their first Premier League title since 2004. Arteta, whose gamble to retain Myles Lewis-Skelly in midfield ahead of Martín Zubimendi paid off handsomely with another brilliant performance from the teenager, urged his players to enjoy their success before switching attention to Sunday’s trip to face West Ham.

“It’s great. Everybody can feel a shift in energy, in belief, in everything,” he said. “Let’s use it in the right way and understand that the margins and the difficulty of what we are trying to achieve are huge, but we have the ability and the conviction to do it.”

The Atlético manager, Diego Simeone, had no complaints at the result and acknowledged that Arsenal had been the better side over two legs. “I feel calm. I feel peaceful. The team gave absolutely everything,” he said. “We were competing with a team that has so much strength and power. We have to accept the place we are in.”