Leicester were the Premier League's only representatives in the Champions League quarter-finals this season.
Ramos' men lost Wednesday's return leg 2-1 at the Vicente Calderon but still secured a ticket to the Welsh capital next month.
Navas had two make two hard consecutive saves in the 66th on a shot by Yannick Carrasco and a header by Kevin Gameiro, and Cristiano Ronaldo had a goal disallowed for offside in the 69th.
"Benzema's move changed the game", Madrid midfielder Casemiro said.
"It's a success of the club, to have enjoyed five and a half years growing enormously... it's clear that it's not easy to always stay on the same trajectory, but today is an important day, even if we have ended up eliminated".
Madrid, meanwhile, will take the defence of the trophy right to the final game after beating Atletico Madrid 4-2 across the two legs of their last-four encounter.
"My best memory of the Champions League is the semi-final against Chelsea in 2009", he said.More news: Experts question North Korea role in WannaCry cyberattack
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"They got a goal from a corner when we were not watching, then a penalty".
"Football is not just about who gets the goals, look at what Benzema did".
"Bayern Munich, Real Madrid, Juventus".
Atletico Madrid boss Diego Simeone has remained somewhat upbeat after succumbing to rivals Real Madrid in the Champions League for the fourth successive year.
Kevin Gameiro also should have done better on the end of a swift Atletico counter-attack but Cristiano Ronaldo in particular was growing in prominence and was unlucky to have a 69th-minute effort incorrectly ruled out for offside.
Who are you backing in this year's final?
Fourth-placed Sevilla look like Real's most hard opponents in the three remaining games, though Jorge Sampaoli's team are far from the swashbuckling side that ended Real's 40-game unbeaten run in January. "But we haven't won anything yet". "They have great players in attack, too".
With one Champions League title already under his belt, Zidane is fast making a name for himself as a coach but it was as a player at Juventus that the French great became one of the greatest in the world.