The German champions however crumbled in extra time to lose 3-6 on aggregate.
Bayern were on the wrong end of three controversial refereeing decisions, with Arturo Vidal given a second yellow card for what appeared to be a fair challenge, before Cristiano Ronaldo completed his hat-trick with two goals from offside positions in extra-time. But then the referee started with his show and with a man less it is very hard.
Following the clashes between Leicester City supporters and officers that preceded last week's quarter-final first leg between Atletico Madrid and the Premier League champions, authorities in the Spanish capital pledged to reinforce its police presence for Bayern's visit.
With the German side needing to score twice, Ronaldo finished his hat-trick and Asensio also scored as Madrid twice caught Bayern on the break.
Carlo Ancelotti has urged Bayern Munich to respond to their European heartache by beating Mainz on Saturday and m ove a step closer to retaining their Bundesliga title.
Rummenigge likened the manner of the defeat in Madrid to that against Manchester United in the 1999 final after two injury-time goals, and to the loss against Chelsea on penalties in the 2012 final in its own stadium.
Mike Babcock: Leafs need to 'earn' their way into playoffs
Penguins C Evgeni Malkin (shoulder) and D Olli Maatta (hand) are close to returning from their injuries but did not play Saturday. But based on the recent results, it shouldn't make a major difference who is across the ice from the Capitals in the first round.
"Despite a strong performance, it was not enough to continue to the semi-finals", he wrote on Instagram.
We spoke to Carrick at the Aon Training Complex on Wednesday to garner his reaction to Ronaldo's incredible achievement and you can see what the midfielder said in our video above.
"Manuel Neuer suffered a fracture to his left foot in the 4-2 defeat away to Real Madrid according to an initial diagnosis".
Bayern, the 2013 Champions League victor, had made it at least to the semifinals for the last five seasons.
"I would like to congratulate them for the Champions League they have done, because it is something to admire". He became the first player ever to score a century and it is not simply their sheer volume but also the timing of Cristiano Ronaldo's scoring feats that make him one of football's all-time greats.
"If you play against a team like Real with 10, it becomes hard". We're used to suffering, but we're very happy.
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