The Brazilian right-back also acknowledged the threat posed by Antoine Griezmann but is hoping his side will finally get the better of Spanish opposition in the Champions League.
The Bavarians head into the tie having beaten Benfica 3-2 on aggregate at the quarter-final stage, with Pep Guardiola’s side still on course to win a league, cup and European treble in the 2015-16 campaign.
Atleti will be full of confidence having progressed past Barcelona in the last round, however, and Rafinha is under no illusions as to how difficult it will be to reach the final.
The Brazilian defender told Goal: “I think every time Bayern play we’re the favourites. However, Atletico is a great team, they have been playing great football in the last few seasons and it will be a very difficult tie.
“We are in the semi-finals of the Champions League. We knew whoever that it would be a tough clash whoever we faced. In the last two years we lost to Spanish teams in this round [Real Madrid and Barcelona], and I hope that the third time proves to be a lucky charm. We are going to have two very tough games and we will play our best to come out on top and reach the final that we all dream of.
“Atletico’s work ethic and their defensive style is their strength. Also, the way they play in the Champions League like it is the Copa Libertadores – that’s something unique with this team. Simeone is doing a great job with Atletico and has had a lot of success in the last few years.”
Rafinha also discussed Antoine Griezmann and, while he acknowledges the 25-year-old Frenchman is having a terrific season, he is focused on dealing with Atleti as a team rather than worrying about individuals.
He added: “Griezmann is a great player and is having a great season. However, for us to qualify for the final we need to focus on Atletico as a team and our coach will tell us how to play against them. I am confident we will be in a position to qualify, that’s our goal.
“For us it’s Atletico [the most dangerous rival left in the competition]. We need to beat them to reach the final. We take it one step at a time and we need to focus on what happens in this tie.”