The sixth seed should now be contented with breaking into the top five for the first time in the next rankings.
Now 37, Williams is the oldest woman to reach the Wimbledon final since Martina Navratilova in 1994 at the same age.
She won her first Wimbledon title in 2000, fifth in 2008 and finished runner-up in 2009.
The decision to postpone the match until Tuesday, rather than play it on Centre Court after Roger Federer's victory on Monday over Grigor Dmitrov, was questioned by some, including Djokovic's wife Jelena. The second match saw Williams take down Johanna Konta in slightly less dominant but still impressive fashion, 6-4, 6-2.
On Konta, Williams said: "She played an incredible tournament". The 23-year-old Muguruza broke twice to open the second set, claiming the first four games before dismissing Rybarikova in a mere 64 minutes.
"I've played a lot of finals here". Konta in her first.
"I had a lot of issues", Williams said afterwards. It won't be a given but I'll give it my all.
"She's played some incredible matches against me, as well".
"She's helping me to deal with the stress of the tournament", she said.
Konta has earned $5.1m (£3.9m) in her career to date, with $1.9m (£1.4m) pocketed this year ahead of Wimbledon.
"It's very well rehearsed and I'm very impressed". "It's some of the best I've ever seen her play".
"Rybarikova is a very talented player", said the 2016 French Open champion.
Williams used the vast weapons garnered through years of experience to unsettle Konta's rhythm - particularly on the Briton's previously solid serve.
"I missed her so much before this match, and I was like, I just wish she was here, and I was like, I wish she could do this for me, but I was like no, this time you have to do it for yourself". I just have to be more relaxed and more belief in myself.