O'Driscoll and company continue their build-up for away Tests against New Zealand and Australia next month by tackling the Barbarians in Gloucester tomorrow night.
And the skipper believes Munster - European champions twice in the last three seasons - have received a raw deal from their critics.
Toulouse fly-half Jean-Baptiste Elissalde was among those who condemned Munster's approach to the Millennium Stadium showpiece.
But Leinster star O'Driscoll said: "I think it's a little bit harsh to criticise Munster's style of play.
"They were in a final, and it doesn't matter how you play in a final. You can play the most unattractive rugby imaginable - it makes no odds because it is about winning.
"The Heineken Cup is notorious for producing poor rugby in a final, but they ground it out.
"They recycled the ball and killed the clock, and I applaud them for it. It typifies the sort of side they are. They are a thinking side.
"To be honest, I am very envious of it and I make no secret of that. They have been in four finals, and for that you have to take your hat off to them.
"I think they have been in the (Heineken Cup) knockout stages for 10 years in a row, and for that reason they deserve to be there.
"The position they are in is something we all have to strive for and is something I want to achieve. There are not many players out there with two Heineken Cup winners' medals.
"They rarely play badly, and even when they do have their off-days they push teams to the limit. That is a great skill to have.
"When the Munster players join the squad, I am sure they will bring a huge infectious factor - a real buzz."
O'Driscoll leads an Irish XV drawn largely from Leinster and Ulster tomorrow, with most interest surrounding his new centre partnership alongside the highly-rated Luke Fitzgerald.
Coach Michael Bradley, in charge for the Barbarians game and senior tour before Munster boss Declan Kidney takes up his appointment as Eddie O'Sullivan's successor, can call on the experience of players like O'Driscoll, wing Shane Horgan and lock Malcolm O'Kelly.
Teams for Ireland versus the Barbarians, Kingsholm, May 27:
Ireland: R Kearney (Leinster); S Horgan (Leinster), B O'Driscoll (Leinster, capt), L Fitzgerald (Leinster), T Bowe (Ulster); P Wallace (Ulster), I Boss (Ulster); B Young (Ulster), R Best (Ulster), M Ross (Harlequins), B Casey (London Irish), M O'Kelly (Leinster), S Ferris (Ulster), S Jennings (Leinster), J Heaslip (Leinster).
Replacements: B Jackman (Leinster), T Court (Ulster), R Caldwell (Ulster), N Best (Ulster), F Murphy (Leicester), J Sexton (Leinster), G Dempsey (Leinster).
Barbarians: P Hewat; S Anesi, M Turinui (capt), J Pretorius, L Vainikolo; S Larkham, M Claassens; O le Roux, S Bruno, C Visagie, K Chesney, R Skeate, C Newby, D Croft, P Wannenburg.
Replacements: M Regan, P Collazo, S Dellape, M Chapman or J Collins, A Gomarsall, G Jackson, T Smith or S Mapusua.
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