The attacking midfielder breathed a sigh of relief after his side's hard-fought Champions League win over the French giant.
A shock seemed to be on the cards when the Catalans fell 1-0 behind in Wednesday's return, after a 2-2 draw in the first leg at the Parc des Princes, but Pedro eventually saved the day for Barcelona as his strike helped the team through on the away-goals rule.
"It's true that PSG are a fantastic team. They have players who have lots of experience. They have players of the highest level who are technically very good," Iniesta was quoted as saying by UEFA.com. "We knew this was going to be hard and it's true that we had to endure a bit to get through. But that's completely normal against a team which is as strong as PSG in a quarterfinal of the Champions League. The suffering and the tension were high right until the end but we achieved what we set out to do.
"Patience is important in this type of game. We were always looking to score because we knew that if we got a goal they would need to get two. Maybe we should have controlled the game more to avoid suffering as much because of their counterattacking skill, but big games are like that and we got the result we needed."
The draw for the semifinals takes place on Friday in Nyon, Switzerland.