You can also request Google to remove those old urls, there is a link in webmaster tools to remove url's, don't recall the exact location in the new version but I think it is with the sitemap info.
Also, if those old pages were indexed, and got traffic, you could do a redirect to the new page, this way a visitor is sent to the new page and not lost to a not found error. If you do that, do not request that Google removes the url as it will error in webmaster tools.
Eventually, the old urls will go away, takes time.
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"People who are unable to motivate themselves must be content with mediocrity." ~Andrew Carnegie~