The tricky winger was over the moon with his side's qualification for the group stages, and is full of ambition as they debut on the highest level
The Liga outfit recorded a scoreless draw against Panathinaikos on Tuesday after beating the Greek side 2-0 in the first leg of the play-off round, and the Spaniard was over the moon with his side's success.
"As for the group stage draw, we know that all rivals will be tough but we have qualified and are determined to enjoy the competition and go as far as we can," Joaquin was quoted as saying on the official Uefa website.
"It has been a complicated summer with many important players leaving the club. This result gives value to the work ethic, the attitude and the modesty of this team.
"It is very satisfying to reach the Champions League group stage through so much work and sacrifice. I am very happy that we are among the best of Europe."
Malaga will find out who they will meet in the group stage on Thursday when the draw takes place.