Pierre-Emerick Aubameyang says he was disappointed with Arsenal's failure to qualify for the Champions League, as he had hoped to face his former club with Barcelona.

Despite enjoying an encouraging campaign under Mikel Arteta, Arsenal missed out on a top-four finish to fierce rivals Tottenham after losing two of their final three games of the Premier League season.

Their late-season collapse meant Arsenal have not finished in the Premier League's top four since Arsene Wenger's Gunners finished second to Leicester City in the 2015-16 campaign.

Aubameyang, meanwhile, departed the Emirates Stadium in January after four years at the club, scoring 13 goals in all competitions for Xavi's Barcelona as the Blaugrana secured second in LaLiga.

That return made the Gabon forward Barca's joint-top goalscorer for the campaign along with Memphis Depay, despite him making just 23 appearances since his arrival at Camp Nou.

Speaking to Sky Sports while attending the Monaco Grand Prix, the 32-year-old admitted he was sad to see his former club miss out on a place in European football's premier competition, but hopes they can impress upon their return to the Europa League. 

"Yeah, [they came] really close. I think they did a lot of improvements," Aubameyang said.

"I'm a bit sad because I wanted to play them in the Champions League. I have a lot of friends over there, but I'm wishing them all the best for next season.

"Obviously, I think it's going to be a good thing for them to get back to the Europa League as well, hopefully they can win it."