Speaking to BT Sport, Chelsea manager Maurizio Sarri said: "I think we played a very good first half and then we got into trouble after the break. We conceded a goal in 10 minutes of panic.
"We were better in the last part of the match but we were tired in extra time and it was difficult. We started with three injuries and picked up two more during the match after we lost Andreas Christensen and Ruben Loftus-Cheek, so it wasn't easy but we are now in the final."
On Ruben Loftus Cheek's injury: "It's not serious but he had the usual cramp after 75 minutes. There is no preparation for penalties because you can kick very well on the training ground but the pressure is different. You need a great personality so it's useless to try penalties.
"Now we need to rest. Unfortunately we have to go to the United States but we have 10 days to prepare for the final and we have to recover energy."