Messi scored Barcelona's fourth goal in a 4-2 away win that carried the Catalans through to the semi-finals 6-4 on aggregate.
He was substituted two minutes later, in the 82nd minute, but Barcelona stress he is not carrying a significant injury.
Assistant head coach
Real Madrid awaits Barcelona in the last four, and
The first leg takes place in
Pique said: "It's exciting because it's a cup semi-final and because if you win you go onto the final.
"It's one of the most attractive matches of the year and we have been lucky enough to play it these past couple of years. First we have to play against Madrid, they will still be dangerous even though they will be missing important players."
Barcelona plays Osasuna in the Primera Division on Monday morning (AEDT).