Djokovic, who now has a 13-1 record against Dimitrov, totally dominated the contest, which was over in 69 minutes.
The match was the oldest semi-final in Masters 1000 history, with a combined age of 70.
Djokovic's serve was once again strong - he made 87% of his first serves and hit five aces - but his all-round game was impressive, and he will head into the final confident of securing a landmark 100th professional title.
"It was very windy today, very difficult to control the ball, changing direction all the time but I had good serves and held my nerves," said the 37-year-old.
"The serve was again the highlight of the match for me. I think it was 84% last game and I thought that would be difficult to beat that but today it was 87% so I don't know what to say?
"Hopefully I can continue in the same fashion because that definitely makes my life easier," he said.
After a slow start to the season, Djokovic has his swagger back and his eye on his 100th win.
"After the Olympics, which was the 99th title, every tournament I play in has been going for 100 and I haven't be able to achieve that. Hopefully Sunday, I am going to go all in," he said.
As expected, the contest that followed between Mensik and Taylor Fritz was a baseline battle which was ultimately decided by two tiebreaks won by the Czech 7-6, 4-6, 7-6.
Mensik blasted 25 aces and kept the pressure on Fritz throughout with his relentless power-hitting as he reached his first Masters 1000 final.
"I just I cannot describe how I feel right now, the feeling will come later. It was a fantastic atmosphere even though I was facing an American here," said Mensik.
"The key was to stay focused. He serves the same as me so it was just a game of serves. He didn't give me the opportunity to break him, so the two tiebreaks decided it."
Fritz ended up in the unusual position of losing despite his serve not being broken - he faced just two break points in the whole game.
"It doesn't really take the pain away too much. Between the two breakers, like, I have to win one of them. I have to play a little bit better," said the American.
"I think when I'm playing well, when I'm winning matches, it's kind of just what I do. I pull through these situations. So to just kind of get out-toughed in two breakers, it sucks.
"I did my job. I didn't get broken. I didn't face a break point until the third set, so... It sucks," he added.
Mensik has only faced Djokovic once in his career, losing to him Shanghai in October.