Semenyo struck a 95th minute winner in his final appearance for the Cherries ahead of his switch to Manchester City.
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Iraola told the Daily Echo: “Yes, I think he deserved this moment.
“I'm happy that football has given him this moment that he will never forget.
“And also collectively, I think we also deserved it, not because of today probably, but because what has happened in the last games where I think we've deserved much more.
“It cannot always go to the other side. Sometimes the small details, sometimes have to go to your side. And today at least balances a little bit. Not everything, but a little bit our last performances.”