City came from behind to claim a famous 2-1 win against the 13-time European champions.
Gabriel Jesus and Kevin De Bruyne, the latter from the penalty spot, scored in the last 12 minutes for City.
It was a positive news for City after the shattering blow of their ban from European competition.
And reacting to the win Guardiola said: “I’m happy for the victory, of course, and the performance as well.
“They started well. In the first 10 to 15 minutes we were not able to get the ball. We were not able to make passes. With them it is always difficult.
“But after these 10 to 15 minutes we played really good and when we were playing better we conceded a goal we should not have at this level.
“But then we scored a goal and after that our rhythm came and we scored the second one.
“We are happy but, of course, there is the second leg. It is still not over. If there is one team in the world that can overcome anything, it is this club.
“Hopefully we can do a good performance and go through. We have not won anything yet but to win here is a big satisfaction.”
Guardiola admitted he was relieved to see De Bruyne score after City had missed five of their previous seven penalties.
He said: “I say thank you to Kevin for taking a penalty under pressure. Finally, after losing four penalties in a row, it is good for us.”
Guardiola dismissed talks of his players getting extra motivated against Madrid, following the UEFA ban.
“We cannot control what happens off the pitch, only on the pitch. These players want to do it for ourselves and our fans.”
And on the hamstring injury suffered by Aymeric Laporte, who has endured an injury-ravaged season Guardiola said: “He’s injured. He’s had four or five months out and then comes back for this demanding game. It’s a pity.
“We dreamed of having him fit to the end but unfortunately we have suffered a lot in this department this season.
“But with John (Stones), Eric (Garcia), Nico (Otamendi) and Fernandinho, we will go on.”
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