It proved a tricky first half for the Blues, with the Championship side holding firm for the first 41 minutes before a penalty was awarded for a foul on Bernardo.
Riyad Mahrez tucked the spot-kick home before going on to complete a first Wembley hat-trick by a City player.
“It’s the fourth time in a row we are here and the last three against Arsenal, Chelsea, and Liverpool we could not do it,” said Pep.
“Today we performed. Like I said in the press conference, this game is coming on the back of Bayern Munich, and we talked about how we have to try again and perform well - and they did really well with all the guys, the ones that came from the bench… everyone was perfect.
“I’m happy and really satisfied for all the Club to be after many years in the FA Cup final.”
The boss also had special praise for treble-goal hero Mahrez who he says makes it perfectly clear when he’s not happy!
“Always he’s grumpy with me when he doesn’t play,” smiled Guardiola.
“All the time, he makes me notice he’s grumpy. Today, no. He’s an exceptional player and his play was exceptional.
“A biggest stage player who has the mentality to score goals. His composure for the penalty was important so we finished the first half 1-0 and the second and third were brilliant.
“It’s really good to be in the final. I’m so satisfied with Riyad because he loves to play football and he has given many things in these years and hopefully more in the future.”
Guardiola admits he was impressed by Sheffield United’s resilience.
He says the Blades are a Premier League club in every sense other than mathematically promoted.
“They had a chance in the first minute and in these types of games and against these types of opponents, we cannot press because always it’s longer balls,” he said.
“It’s important to be solid and not concede a goal. They are masters of the crosses and set-pieces; they are dangerous.
“We struggled for the first 15 to 20 minutes. In the first half we didn’t win one second ball.
“At half-time, we adjusted some positions, and we won second balls when they played long balls, especially when McBurnie came on.
“We moved them well. We lacked a little bit to find Julian and Erling and they had to move behind a little bit to find the ball going into central positions.
“In general, it was a really good performance knowing where we came from three days ago.
“The adrenaline we spent in that game (Bayern) was massive in all concepts and today from the first minute - even in the locker room - we saw it and it was ‘okay,, the guys are here’.
“Three years in a row, semi-finals we were out, out, out so to be the final is doubly satisfying. “