The English Premiership side ultimately denied them progress and now Munro feels the Warriors can take the next step this season.
The former Scotland second rower said: "We were a win away from qualifying last year so our aim this year is to qualify out of our group. It's Glasgow's turn to step up to the plate as they say in the States.
"We were unlucky not to go through to the knock-out stages last year against a side that made the semi-finals. But we can only learn from that experience and continue to get better as a club.
"The European Cup is also a fantastic occasion for the Glasgow public. They have the chance to come and see some top sides packed full of international talent take on the Warriors - also a top team packed full of international talent - representing their city at Firhill."