The Gunners may have endured a turbulent campaign but they still managed to secure a top-four finish, pipping north London rivals Tottenham to the final berth.
Laurent Koscielny's goal in the season finale at Newcastle secured a 1-0 victory and qualification for a competition the Gunners reached the final of in 2006.
This year they exited the competition to finalists Bayern Munich in the last 16 and striker Giroud wants an improved performance next term.
"On the bench (against Newcastle) it was really nervous," the France striker told the club's official website, www.arsenal.com.
"It's always worse when you don't play. It was really difficult but in the second half Laurent, my French friend [scored]. I'm so happy that he scored.
"The goal relieved us and we could dominate the game after. We became more confident. We had our destiny in our hands. It was very difficult but the finish was amazing.
"It's 16 years in a row we've succeeded to qualify for the Champions League. We knew it was really important. For me it will be the second season in the Champions League.
"When you play in the Champions League, you always improve yourself and it's better for competition.
"We are competitors and want to play in the top games. I really enjoy playing against big clubs like Bayern Munich. I would like to go further next year."
- Sports & Recreation
- Bayern Munich
- Laurent Koscielny