Monaco fell to a 4-1 aggregate defeat after a 2-1 second-leg loss in Torino, and 2 – 0 defeat in Monaco.
First-half goals from Mario Mandzukic and Dani Alves put the tie to bed for Juve, who claimed a 2-0 away win last week.
Massimiliano Allegri’s men will face Real or Atletico Madrid – the former leading that tie 3-0 – in the final in Cardiff on June 3.
Monaco exits with honors after a successful European campaign, beating on the way good teams like Manchester City.
Mbappe declares: “We came with our weapons, we wanted to make it difficult, but we only managed that in fits and starts,” he told L’Equipe.
“That is not enough. We again leave with our heads high.
“My goal is useless, it’s anecdotal. But there aren’t many regrets from this European campaign.
“By playing against the best we learned, I learned, and we will try to come back next year even better prepared.”