Pearce's youngsters finished top of Group B after Jack Rodwell cancelled out Gonzalo Castro's early opener at Orjans Vall, with Spain heading home as a result.
England were knocked out at the last-four stage two years ago but would have been depleted through injuries and suspension if they made it to the final - but this time around they head into it with almost a full squad.
Gabriel Agbonlahor's calf problem is the only concern heading into Friday's clash in Gothenburg.
"Two years ago Holland and Serbia both got the final after resting players in their third group game," Pearce said. "So I think it is helpful.
"It saves your bookings and suspensions. If we got to the final two years ago we would have been on our knees. This time we go into a semi-final hopefully with 23 fit players."
Pearce's changes means every member of his squad has now played at the finals.
"If those players from 12 to 23 don't support their team-mates then you'll go home early," Pearce said. "They are all supporting each other, and that is what you have to do.
Tough
"You can do no more than win the group. We knew it was a tough group. Qualifying before the last game is sometimes difficult but I can assure everyone that the team was picked to win the match and I think we were the better side.
"It keeps us where we are because we keep our base by playing in Gothenburg."
Danny Rose, Scott Loach and Rodwell were making their first starts, while Andrew Driver made his debut.
"We can only win by playing 1 to 23," Pearce said. "They showed they have momentum and a togetherness, I'm under real pressure for the semi-finals now."
Rodwell was the star man in a decent team performance, with Pearce adding: "He was beyond his years. I told him three weeks ago I need to hear his voice more and I have heard him more and more.
"Performances like that will come from it. He's quiet but strong mentally. Every day he has flourished more and more.
"He's a big bonus but I expect that from him."
England confirmed their billing as one of the favourites - and Pearce feels his youngsters are showing no fear.
"There is a hard-nosed doggedness and I'll make sure there is no complacency," he added.
"The Rodwell's of this world look like they can take anything on. Myself and the coaching staff as well are two years more experienced and that is serving us well.
"We hope we go one better than the semi-final this time."
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