The Blancos goalkeeper admitted that the Bavarians deservedly booked their ticket to Saturday's showpiece as he tipped Jupp Heynckes' men to lift the European Cup
Bayern beat Madrid on penalties to book their ticket to this weekend's decider, while Chelsea eliminated Barcelona in the other semi-final tie.
Nevertheless, both teams will have to make do without a number of first-team regulars due to suspension, but Casillas believes the Premier League outfit will be hit hardest by the absences.
"It's clear for me that Bayern deservedly progressed based on the first leg and the return. They were just a bit better than us," Casillas stated to Bild.
"Both teams have reached the final with some great football occasionally. However, the suspensions will hit Chelsea harder than Bayern.
"Bayern are more compact in my opinion, and are more of a team."
Saturday's final in Munich kicks off at 20.45CET.