The Catalans were dealt a 4-0 hammering at the Allianz Arena in the first leg before suffering a 3-0 defeat on home soil a week later, but the Spain international told his teammates to put the result behind them and win the Liga title.
"The feeling after the Champions League tie [against Bayern] was terrible, both home and away," Iniesta told told reporters. "Of course it hurts, it hurts deep in our soul - for both the players and the fans. The next day you don't see things the same way as straight after the game, you have to look at it with perspective.
"You cannot throw it all away when this team can be champions this week. You recognize when things go wrong but we will train to fight again next year. Defeat in the Champions League has been very painful for us."
Barcelona currently sits 11 points ahead of second-place Real Madrid in the Liga table and can cement its 22nd Primera Division crown with a win against Atletico Madrid in the Spanish capital on Sunday.