Excited-state quantum phase transitions (ESQPTs) are critical phenomena that generate singularities in the spectrum of quantum systems. For systems with a classical counterpart, these phenomena have their origin in the classical limit when the separatrix of an unstable periodic orbit divides phase space into different regions. Using a semiclassical theory of wave propagation based on the manifolds of unstable periodic orbits, we describe the quantum states associated with an ESQPT for the quantum standard map: a paradigmatic example of a kicked quantum system. Moreover, we show that finite-size precursors of ESQPTs shrink as chaos increases due to the disturbance of the system. This phenomenon is explained through destructive interference between principal homoclinic orbits.