Real Madrid captain Iker Casillas admits that their failure in the UEFA Champions League in recent seasons has been difficult to swallow.

Los Blancos suffered a shock defeat to Borussia Dortmund in the semi-finals this season, after being ousted by Bayern Munich at the same stage last term.

Casillas, who is the only player with the club that was around to lift the trophy back in 2001, admits that they will be motivated to change their fortunes next season.

"We have managed to reach the semi-finals in the last three seasons. We knocked at the door of where Madrid want to be, but this has left a bitter taste because we could have made it to the final," the Spain stopper told UEFA.com.

"I'm sure the moment [to win the trophy] will come again so long as we prepare for each match with the motivation and desire we have shown already.

"You only need to see what it does to the fans. On the street people always ask you about it. In fact they demand more and empower you to give your best in this competition and to become kings of Europe again."