The Steelmen were ahead at half-time through Andy Halliday, but Rangers responded with goals from Cyriel Dessers and Nedim Bajrami setting-up an Old Firm final next month.
Speaking to RangersTV at full-time, Clement said: “In the first-half, I thought we started best, we pushed and got a few chances but in their first attack they got a goal so that was a big blow.
“The team showed resilience, we have been talking about it a lot in the last couple of months to get this into the team and they showed that. They never doubted and they kept on going.
“We spoke it at half-time to keep on pushing to break open the wall which is what we did in the second-half. In the end it is certainly a deserved victory, we hit the post a few times and their goalkeeper had a few saves. As a manager, you would prefer to score more goals today and have a little bit more composure but that is the next step to take in the next weeks and months.”
On the goals, the manager was delighted with the build-up to the strikes, as well as the quality from Dessers and Bajrami.
He said: “They were both really collective goals with good combination play, it is what we like to see, and we had several of those actions so that is a positive point today also.
“I was also happy with the defensive work of the whole team. Everybody fought for every metre on the pitch, and we stayed compact together, that is why Motherwell had less chances than the game in August.”
Clement and his squad will now return to the national stadium for the final on December 15 as they look to retain the trophy.
On the mentality of his squad, the manager continued: “It is crucial, it is what this club is about, it is about winning. It is about giving everything every time, every day.
“It is good that the players get a reference game in that way when things don't go their way, they need to fight really hard and then the reward can come at the end, so everybody is really happy to go to this final, it is a big challenge.
“We had the win last season, so we want that again and it is a good thing to look forward to.”