Erik ten Hag lamented “missed opportunities” and agreed Manchester United “should have done better” as they left the Champions League and European play for the second season in a row.

United’s 1-0 home defeat by Bayern Munich not only eliminated them from Europe’s main club competition, but also meant they finished bottom of Group A, ensuring they will not even compete in the Europa League until Christmas.

Kingsley Coman scored the game’s sole goal in the second half to secure a deserved win at Old Trafford, with Ten Hag’s injury-depleted team mustering only a single effort on target.

Defeats at home to Galatasaray and away to Copenhagen – games in which United led before losing — meant that a second group-stage loss to Bayern proved catastrophic, and Ten Hag regretted wasted opportunities in all six games.

“I think the game was like this for both sides: less chances, but I think there was a good intensity in the game, and I think from our side we brought Bayern out of their rhythm of the game with the defensive organization and pressing organization, we did quite well, if not very well, especially the first part after the second half where we also had very good ball regains high up the pitch but we didn’t take the benefit of it,” he said.

“Also, during that period of the game, we had a very good chance from a build-up, and Bruno Fernandes shot just wide.” We had our chances, but we didn’t take them.

“I look at my team, and we had, I believe, opportunities in games where we were in winning positions, and we scored many goals, but you also have to see that we gave it away sometimes by individual errors — not by one player, but by more players, not always the same — that give the opponent opportunities to turn.”

“We also had very good spells in games, but we need to improve.” The reality are that we do not have enough points, we are disappointed as a group, and I am disappointed as a manager. We ought to have done better.”

The emphasis must now shift to competing in the Premier League, returning to the Champions League, and striving to win silverware in the FA Cup.

“There are still many things to play for and now we can focus, of course, on the Premier League,” he said.

“This is the level we want to play, Champions League, so we have to give every effort in to be in the top four and next year be back in Champions League and then of course, we have the FA Cup, so there are so many things to play for.”

United, who are sixth in the Premier League, play rivals Liverpool away on Sunday.