"Don't be afraid about dreams because four years ago I was as far away from this as you can imagine and look what has happened," Coleman told BBC TV.
"Everybody fails, I've hard more failures than success, but I'm not afraid to fail and every now and again, this happens. It's sweet and I'm enjoying it."
Radja Nainggolan gave Belgium a 13th-minute lead, but Ashley Williams equalised before a dazzling strike from Hal Robson-Kanu and a late header by substitute Sam Vokes earned Wales a historic victory.
Wales have reached the last four in their first ever European Championship finals and will face Portugal in Lyon on Wednesday.
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