The Portuguese attacker is confident that Los Blancos will win the upcoming match but sent out a warning regarding the attacking threat of the Budnesliga giants
The Spanish capital club must overturn a 2-1 deficit in their stadium if they are to progress to the final in Munich on May 19.
Ronaldo is wary of the threat posed by the German giants but has no doubt that Madrid will come out on top.
"We know that Bayern will play on the counterattack, but we also think that they will respect us a lot because we will be playing at home," he said in an interview with bwin.com.
"We are fine and I am sure that we will win at home because we will playing in our stadium, in front of our fans and we have all the conditions to be able to win."
Quizzed on Bayern's strong points, the Portugal international warned his team-mates against the quality of the Bavarian attackers.
"Mario Gomez, who is a striker and one of the top scorers in the Champions League, Franck Ribery and Arjen Robben are all very dangerous," he suggested.
"We will have to be very careful on the four guys who play up front because one of them will try to make the difference."
Ronaldo's third season at Madrid is almost coming to an end, and the 27-year-old guaranteed that he is not thinking about going anywhere.
"Year after year, I try to give my best with this shirt," he said. "Things are going well for me and I want to continue like this."
Starting last month and continuing for 10 weeks, Goal.com is publishing exclusive extracts from Luca Caioli's new book, Ronaldo: The Obsession for Perfection. The fifth extract, published on Friday, looks at the Portuguese's intense rivalry with Barcelona's Lionel Messi ahead of this weekend's Clasico clash. Don't miss it!