Pep Guardiola insisted there were no regrets after Manchester City’s bid to retain their Champions League crown ended in a heartbreaking penalty shoot-out loss to Real Madrid.The holders were beaten 4-3 on spot-kicks by the Spanish giants after their quarter-final tie ended 4-4 on aggregate – 1-1 on the night – despite a dominant display from Guardiola’s side in the second leg at the Etihad Stadium.“I don’t have any regrets about what we have done," the manager said at full-time.Guardiola added that his side "played exceptionally in all departments" despite crashing out of Europe.