The Lions had beaten the Swans just once since 2004 – the last time the Lions made the finals. Saturday's result secures an elimination final against the Blues next week at the Gabba.
"We spoke during the week about this being a final frontier for us," Voss said after the match.
"And throughout the season we've been able to knock off some old records that have been hanging over our heads as a club.
Voss said the club's recent past successes had also become something
"That's been and gone," he said. "This particular team is trying to make its own history and own path."
The Lions go into the finals having won two games on the trot after overturning a 47-point deficit last week to defeat the Power by 15 points.
"We come in match hardened for finals, there's no doubt about that," Voss said.
The game was in the balance until the final few minutes when Justin Sherman's goal in the shadows of the final siren effectively sealed the points. However, Voss expressed some concerns over his side's inability to kill off opponents earlier in the game.
"We could have iced the game earlier. We had opportunities and we certainly made some mistakes, but that's what genuine pressure does."
On such an emotional night, with the Swans farewelling Michael O'Loughlin, Jared Crouch and Leo Barry, did the Lions feel like party poopers?
"We've still got a party to get to yet. Our ball hasn't happened yet. We've got a big game next week against Carlton," Voss said.
"For them to earn that right, it's a lot of credit to the players. But it's important to note we haven't achieved what we wanted to get out of the season. To play one final would be a disappointing way to bow out because I think this group has got more in them than that."
Josh Drummond (quad) was the only injury concern out of the game, Voss said.
