"There is a score to be settled," said Thomas Müller as Bayern prepare for a Group D meeting with Atlético, the side that knocked them out in last season's semi-finals.
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Bayern München (GER)
• UEFA coefficient ranking (end of 2015/16): 2
• How they qualified: first in German Bundesliga
• Previous group stage campaigns: 19 (last appearance: 2015/16)
• Last season: UEFA Champions League semi-finals
• Best European Cup performance: winners (1973/74, 1974/75, 1975/56, 2000/01, 2012/13)
Atlético Madrid (ESP)
• UEFA coefficient ranking: 4
• How they qualified: third in Spanish Liga
• Previous group stage campaigns: 6 (last appearance: 2015/16)
• Last season: UEFA Champions League runners-up
• Best European Cup performance: runners-up (1973/74, 2013/14, 2015/16)
PSV Eindhoven (NED)
• UEFA coefficient ranking: 33
• How they qualified: first in Eredivisie
• Previous group stage campaigns: 14 (last appearance: 2015/16)
• Last season: UEFA Champions League round of 16
• Best European Cup performance: winners (1987/88)
• UEFA coefficient ranking: 146
• How they qualified: second in Russian Premier League, play-off winners
• Previous group stage campaigns: 0
• Last season: N/A
• Best European Cup performance: N/A
Matchday one fixtures (Tuesday 13 September)
Bayern v Rostov
PSV v Atlético
• Atlético Madrid eliminated Bayern München on away goals in last season's semi-finals, winning 1-0 at home before suffering a 2-1 second-leg defeat.
• Atlético overcame PSV on penalties in last term's round of 16 after the tie finished goalless. They also met in the 2008/09 group stage, the Rojiblancos triumphing 3-0 away and 2-1 at home.
• Bayern got the better of PSV in the quarter-finals of the 1989/90 European Cup, prevailing 2-1 at home and 1-0 away.
Reaction to the draw
Carlo Ancelotti, Bayern coach
A difficult group, we have to be on our toes. Atlético eliminated Bayern last season, Rostov caused a surprise with a comfortable victory against Ajax and PSV Eindhoven only narrowly lost to Atlético in a penalty shoot-out last year. This group will be tough.
Thomas Müller, Bayern forward
We want to show against Atlético that we can do better than last season. There is a score to be settled. I think the group is alright overall – it has a bit of everything. I am looking forward to a new Champions League season.
Karl-Heinz Rummenigge, Bayern chief executive
It's a challenging group. We need to be focused to go through. We all know how difficult Atlético will be and it's been a long time since we faced PSV Eindhoven. It will be our first encounter with Rostov. A long journey and a difficult one from a sporting point of view.
Clemente Villaverde, Atlético managing director
It's a tough, exciting group. Last season we showed we were capable of beating Bayern and this time, despite the respect we have for everyone, we want to continue moving forward.
Aleksandr Erokhin, Rostov midfielder
All our opponents will be tough, especially Atlético who were finalists last season, and German champions Bayern. It will be very hard, but we will go onto the pitch to enjoy every game and to make a good account of ourselves. We believe Rostov won't finish bottom of the group.
Dmitri Kirichenko, Rostov caretaker coach
The home games will be a big thrill for everyone. The excitement will be incredible. I am sure the fans will help us to get positive results. We have a really lively atmosphere at the stadium in Rostov-on-Don, and the fans deserved this.