The Juventus midfielder believes the Azzurri were good value for their victory over the Three Lions on penalties in the quarter-finals on Sunday after a 0-0 draw
Pirlo was at the heart of a dominant Italian performance over 120 minutes and was named man of the match after his audacious chipped spot-kick helped Cesare Prandelli's men seal the win.
The 33-year-old expressed delight with the result and looked forward to a semi-final meeting with tournament favourites Germany.
"I'm very happy to get the man-of-the-match award, but the most important thing is the side have gone through to the semi-finals," Pirlo told Sky Sports. "We deserved to do so.
"Now we have a semi against Germany to come, and we're all hopeful of getting through right to the end of the tournament."
Italy will meet Joachim Low's men on Thursday in Warsaw.