The Serie A leaders were beaten 2-0 at the Allianz Arena last Tuesday but Pirlo has stressed that they know how to beat the German champions after analysing the defeat from the first leg.
"After the match in Munich we sat down and analysed what happened that night and then we’ve worked out how to turn this tie around. There’s still hope," Pirlo told The Times of India.
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"Bayern, with their typically German discipline along with many talented players like [Arjen] Robben, [Thomas] Muller and others, played better football on the day and they deserved to win."
Pirlo also had his say on the future of head coach Antonio Conte and he hopes the successful trainer will not leave the Old Lady any time soon.
"Conte is one of the best coaches around. He's coaching in the Champions League for the first time and he has already proven his worth. We, the players, hope he stays on with us."
Conte joined Juventus from Siena in the summer of 2011 and guided the Bianconeri to Serie A glory in his first season.