Zinedine Zidane's side let a three-goal lead from last week's quarter-final first leg at Juventus slip in the return game at the Bernabeu, prevailing 4-3 on aggregate after Cristiano Ronaldo's penalty in injury time to make it into the last four.
'Everyone can have their opinion, and I won't respond to what the players are saying, but all I'll say is that no-one (in the media) can talk to me about a robbery.
"I'm disgusted when people say it was a robbery". Nobody is going to change the history of this club, it's the best club in the world. We deserved to qualify, without any doubt.
Zidane refused to reveal his thoughts on the penalty award and believed there had been "too much" made of the incident, instead concerning himself with preparations for Madrid's return to league action.
Zidane added: "To be honest I think it is disgraceful, upsetting and deceptive". When you're the best, people get jealous.
It could mark a dramatic end to Buffon's Champions League career, given the 40-year-old is expected to retire at the end of the season.
"What Buffon said, he said", Zidane said.
We did very well and we're in the semi-finals.' Real are fourth in the Liga standings and could be 18 points behind runaway leaders Barcelona by the time they play against Malaga. "We did very well and we're in the semi-finals".
He added: "It will be more hard after the Champions League match because the effort has been enormous, but we have managed, very well, the three days (since the game) and now we are ready for another league match".
Malaga started the second half with increased confidence but an off-target Alberto Bueno header was the closest they came to levelling the scores. Of the other 32 games, 24 have been wins for Los Blancos.
He told a pre-match press conference: "Malaga are bottom and maybe they don't deserve to be there".
Having only secured victory over Real Madrid once since 1999, Malaga's 3-2 win over the Spanish giants in December 2012 was a historic day for the club.