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Daniel Ochoa de Olza, Associated Press
Real Madrid's coach Jose Mourinho from Portugal reacts during a semi final second leg Champions League soccer match against Bayern Munich at the Santiago Bernabeu stadium, in Madrid, Wednesday, April 25, 2012.

MADRID — Jose Mourinho pledged his future to Real Madrid despite failing to reach the Champions League final for the second straight season.

He says, "if the club and the players want me to continue, I will."

Mourinho also used Wednesday's European exit to take a swipe at archrival Barcelona.

Madrid lost 3-1 on penalties to Bayern Munich after the two-legged semifinal series ended 3-3 overall. Chelsea eliminated defending champion Barcelona on Tuesday.

Mourinho was quick to defend Cristiano Ronaldo, Kaka and Sergio Ramos' penalty misses by pointing to Barcelona star Lionel Messi's miss against Chelsea.

He also says those who criticized Chelsea's defensive tactics "know nothing."