The Catalan concedes that the Bavarians had initially struggled to play their usual passing game against their second-tier opponents but was encouraged by their persistence
Fresh from a shock 3-0 Bundesliga loss at home to Borussia Dortmund, the Bavarians started slowly but two goals in the space of nine first-half minutes from Bastian Schweinsteiger and Toni Kroos changed the atmosphere of the game.
Thomas Muller, Mario Mandzukic and Mario Gotze all netted after the break as Bayern set up an intriguing tournament decider against Jurgen Klopp's side in Berlin in May.
"Kaiserslautern were very courageous from the start," Guardiola told reporters after his side's semi-final win. "We had problems with our possession of the ball.
"It's never easy to score five goals, regardless of the opponents or the competition you're playing in.
"I am happy about how we fought. I am looking forward to playing in the final."
Meanwhile, Kroos also acknowledged that Bayern had taken some time to get going against their second-tier opponents.
"Our first two goals did us good," the midfielder said. "Before then we were not quite there, had no opportunities and did not play smoothly.
"After that, we were a bit freer and played better. I look forward to the final."