The Liverpool defender admits his side should have defended better in the closing moments of Thursday's first leg.
Kolo Toure has told BT Sport, as quoted by BBC Sport, that Liverpool must take heart from their unlikely comeback victory over Borussia Dortmund after conceding a late winner to Villarreal on Thursday.
Though that late goal was undoubtedly a blow to the hopes of Jurgen Klopp's side, the tie is still fairly balanced with Liverpool enjoying home advantage in the second leg of the tie once again.
In the previous round, the Reds were 2-0 down and then 3-1 down on the night in front of their own fans after a 1-1 first-leg draw with Dortmund before coming back to win 5-4 on aggregate in fairytale fashion.
Toure, who is likely to continue at centre-back for the Reds following Mamadou Sakho's doping controversy, admitted that his side did not defend well enough in the final minutes of the match but insisted the Reds must draw on the experience of their quarter-final win.
"We showed against Dortmund we can respond. We know we can do it, we just need to believe. We just need to learn from the mistakes and play the same game we did against Dortmund."
Liverpool will reach a 12th European final and a first in 11 years if they can turn the semi-final tie around next week at Anfield.