The confident Russian, through to his ninth final of the year, outlasted sixth seed Stefanos Tsitsipas of Greece 7-6 (5), 7-5.
"[Stefanos] had the high-quality tennis and he played very well after his serve", the Serb added on the ATP Tour website.
"I don't think it's right to wait because you kind of surrender when you wait", he said. "He was backing up his serve with really good, aggressive first shots in the rally", Japan Open victor Djokovic told reporters.
"Having good rivalries also within each other, which I think is important for them to improve as players".More news: Nikon's Z50 is official: the company's most affordable mirrorless camera yet
If that was a bold claim, Tsitsipas also said: "I honestly feel like they are more threatened than I am".
"You look at what Roger, Rafa [Nadal] and I guess Novak [Djokovic], to a certain extent, are doing to give themselves a chance to play longer".
One of 26 unforced errors from Djokovic gave Tsitsipas, who produced an array of searing backhand and forehand winners, three break points and he grasped the opportunity to take a 3-1 lead in the third before going on to seal his place in the penultimate round.
"Every time he had an argument he started playing better as well, so maybe it was a way to help him as well".More news: Trump shelves October tariff hike after 'phase 1 deal' with China
The second seed saved five set points in the opening set against Belgium's Goffin on his way to a 7-6 (7), 6-4 victory. "The head-to-head is obviously a great thing to have, but more importantly for me is it was a match to maybe turn my year around a little bit, and the Race to London is also very important", Zverev said. I thought he didn't show any frustrations or too much negativity.
"I told him at the net that he showed great character, that he was strong..." "I didn't see him very often being extremely frustrated except the one time when he hit three let cords in a row, the last game I think it was".
Zverev ended 11th-seeded Italian Matteo Berrettini's run by taking their semifinal 6-3, 6-4, ending the match on an ace, one of 11 he had.
It is the first time an ATP Masters 1000-level tournament has had four semifinalists 23 and under since Carlos Moya (22), Mariano Zabaleta (21), Nicolas Lapentti (22) and Marcelo Rios (23) reached the last four in Hamburg in 1999.More news: Diplomat Targeted By Jailed Giuliani Associates Testifies in Impeachment Inquiry
It's been a disappointing week where not much has gone for us, and indeed not much has gone for the big names in the draw, with Novak Djokovic and Roger Federer dumped out on Friday by young players with ambitions to dethrone the elite duo eventually. It's really open now for the finish of this tournament.