Kai Havertz scored on the counter-attack deep into extra time as the Blues looked for a winner late on.
It is the first time the Gunners have reached a final since winning the FA Cup during Mikel Arteta’s first season in charge in 2020.
The Arsenal manager says the team will enjoy the moment as they prepare to face Manchester City or Newcastle United in the decider at Wembley on March 22.
Mikel Arteta: Arsenal ‘have been waiting for years’ for a cup final
“Did I enjoy it? A lot, especially at the end,” Arteta told ITV1 after the whistle.
“We knew it was going to be a real battle. That resilience, that clarity to understand what kind of game we had to play… we did that so well.
“There was a special atmosphere in our stadium. It makes such a difference. We have waited a few years to get into this position and we are definitely going to enjoy it.”
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