City dramatically fought back from 2-0 down with quarter of an hour to go, with an Ilkay Gundogan goal sandwiching Rodri’s equaliser as they secured the 3-2 win they needed.
The result means City finish one point ahead of Liverpool who won 3-1 over Wolverhampton on Sunday.
“The last game is always special, a lot of emotion,” Guardiola said. “Aston Villa gave everything but the first goal changed everything. We had to handle it.
“We are legends. When you win the Premier League in this country four times in five seasons it is because these guys are so, so special. We will be remembered.
“Winning at home in front of our people is the best. The moment we equalised we had the feeling we had the chance to score the third.
“The magnitude of the achievement is related to magnitude of our rival and I have never seen a team like Liverpool in my life. Congatulations to Liverpool - they have made us better and better each week.”
Gundogan, who was introduced off the bench in the 68th minute, had the key influence, nodding in Raheem Sterling’s 76th minute cross to make it 2-1 and poking in Kevin De Bruyne’s low ball across goal for the equaliser.
Speaking about Gundogan’s winner, City’s Phil Foden said: “It’s definitely got to be up there with Sergio’s moment!”
Foden added about the German: “What a guy! He came on and changed the whole game! He always knows where the ball is going to be in and around the box.
“He’s such a clever player. He was always there in the right place at the right time.”