The Robins slipped a place to 5th in League Two on the final day of the season to set up meetings with the Cobblers on Thursday and Sunday for the right to play in the Wembley final.
"No disrespect to Northampton who are also a good team with a top manager but Bradford are a really good team," said Yates.
Yates saw his side win both meetings against Town during the campaign, 3-2 at Sixfields in December before a narrow win at home in the return fixture at the beginning of April.
After a busy day at the Ticket Office on Sunday, full details of tickets for both legs of the semi-final are available on the official NTFC club website.
Source: Cobblers Mad