Haaland did not finish the quarter final defeat to Los Blancos, with Julian Alvarez playing in extra time and during the penalty shootout.
Asked after the loss on penalties about taking out Haaland and teammate Kevin De Bruyne, manager Pep Guardiola responded.
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"Erling and Kevin asked me to go out. They could not continue, like Manu," he stated.
"They were playing amazing and I'm not a big fan of so many substitutions but Kevin, Erling and Manu asked me to go out because they could not continue.
"Now we rest, tomorrow we come back and on Friday we travel to London to play the game. We will see. Of course we will see how people will react and of course the recovery is easier when winning than losing but it is the semi-final of the FA Cup and we will try to compete as much as possible."