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First though is the challenge of Edinburgh Rugby - historic conquerors of tournament heavyweights Toulouse in the last eight - in the semi-final at Dublin's Aviva Stadium on Saturday, 28 April.
"We believe we can go all the way, but we have to stay humble," says the 28-year-old who has been capped 51 times by South Africa.
"We still have a lot of hard work left to do before the semi and hopefully we'll get the result. Obviously, we know quite a bit about Edinburgh, and it was a really great performance by them to beat Toulouse, so it's going to be a tough battle for us.
"It was a fantastic victory over Munster and we've had our celebrations, so in a way it's forgotten and we've got to move on now.
"It's special to win at Thomond Park, but in the context of the tournament, we haven't achieved anything yet."
Bloemfontein-born Pienaar whose father, Gysie, was a famous Springbok full back, joined Ulster in 2010 and has been a key figure in the club's progress.
He played in last season's quarter-final defeat by Northampton Saints at stadium:mk when Ulster ran out of steam in the second-half and is adamant that the disappointment of that day was a factor in the storming of Thomond Park.
"We spoke quite a bit about the mistakes we made last season against Northampton, and we learned from that," added Pienaar.
"We're all a bit older and wiser and I think that showed against Munster."
The scrum-half, who is also equally at home at No10, kicked four magnificent penalties and a conversion of Craig Gilroy's solo try in the quarter-final and is now looking forward to a second appearance at the Aviva Stadium.
"I played there for South Africa against Ireland in 2010. It's a beautiful stadium with a great atmosphere and I'm sure a lot of Ulster supporters will be making their way to Dublin for the game.
"Hopefully, we'll be able to put in another big performance like the one against Munster. I don't necessarily think that having the semi-final in Ireland gives us an edge, but having the majority of the support will help.
"Moving to Ulster has been great for me and I believe we have the sort of squad that can achieve things over the next few years."
