Townsend's side ended the season in style with a 20-3 victory over Connacht at the Sportsground but were still forced to settle for third spot after Leinster and table-toppers Ulster both triumphed.
Glasgow will now travel to the RDS next Saturday where they will have to beat the defending European champions to earn their place in the final.
Leinster have won both RaboDirect PRO12 clashes between the sides this season but after reaching the final four Townsend insists his side are looking to do more than just make up the numbers.
"It's the two best attacking teams, in terms of stats and tries scored up against each other," said Townsend.
"Leinster are a great team. For me, they are the role model for attacking rugby. We know the challenge that faces us but we can't wait for it.
"We played there six or seven weeks ago and it was a really good game.
"We had a chance to win at the end but a pass was deemed forward when we probably would have scored.
"They have been the best team in Europe for the last couple of seasons and I think they are back on their best form.
"They went down to Wasps and won easily and last week they smashed Biarritz."
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