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Inter Milan striker Lautaro Martinez opened the scoring for Argentina inside the opening 10 minutes at the Estadio Nacional Mane Garrincha in Brazil.
However, Luis Diaz pulled back an important second-half equaliser for Colombia as the semi-final clash was decided via a penalty shootout.
Messi, Leandro Paredes and Martinez all converted successfully from the spot-kick, but Udinese midfielder Rodrigo De Paul missed his penalty for Argentina.
Meanwhile, Juan Cuadrado and Miguel Borja scored their respective penalties for Colombia in the shootout.
However, Edwin Cardona, Davinson Sanchez and Mina didn't enjoy the same fortunes as Cuadrado and Borja as all three players missed their penalties.
Mina, 26, went viral last weekend for his extravagant celebration after scoring a penalty in Colombia's shootout win over Uruguay in the quarter-finals.
The Everton centre-back's over-the-top penalty celebration during the Uruguay clash came back to haunt him in the semi-finals.
Mina stepped up for his penalty and watched on as Argentina's Emiliano Martinez denied him with a superb save.
The Colombia international's miss brought much delight to Messi, who started celebrating and appeared to shout something at Mina.
According to CBS Sports' Nico Cantor, Messi pulled no punches as he yelled at Mina, 'How about dancing now?'
One fan said: "This is the Messi we've all seen for the past decade with Argentina, except [Argentines]."
Someone else tweeted: "His excitement and hunger with Argentina is always a notch higher."
While a third wrote: "I really love this version of Messi, TBH."
And a fourth added: "This is the kind of Messi we want! Hardened!!!"
Messi, who is currently a free agent after his Barcelona deal expired, has been in excellent form for Argentina at this summer's Copa America.
The 34-year-old Barcelona legend has scored four times and registered five assists, with Messi hoping to end his long drought for a major piece of silverware with Argentina.
Argentina will now face 2019 Copa America champions Brazil in the final at the Maracana on 11th July.
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