This would be his second straight victory over Lajovic, following a three-set win in Beijing last year. Tsitsipas now leads the Serbian 2-1 in career meetings on the ATP Tour.
"Dusan is a difficult opponent to play on clay, with a lot of spin and variation in his shots," added the Greek star. "I think I had to do something extra for the victory today. I will keep working hard.”
Tsitsipas next faces Christian Garin on Saturday, as both men will battle to determine who reaches the final. Garin overcame Alexander Bublik 3-6 6-4 6-4, and will reach his sixth Tour-level championship match with a victory over Tsitsipas.
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