The Gunners booked their place in Europe's top-tier competition with victory over Newcastle on the final day of the Premier League season.
Arsenal were eliminated by Bayern Munich at the last 16 stage this year and Giroud wants an improved performance next term.
"On the bench (against Newcastle) it was really nervous," Giroud told the Arsenal website.
"It's always worse when you don't play. It was really difficult but in the second half Laurent (Koscielny), 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."