Spain won the game against Germany 1-0, after a header from Carles Puyol in the 73rd minute.
“It was our best performance so far,” Villa said. “It would have been nice to score more as a team but the most important thing is that we reached the final.
“Pedro came into the side and played very well and we know that any of the 23 players we have in the squad can do a good job.
“Never in our history have we gone this far and this group of players deserves everything we have achieved.”
Spain are set to face the Netherlands in the World Cup final on Sunday.