The Blues squandered an early lead to eventually force a 2-2 draw with the Swans at Liberty Stadium thanks to a Diego Costa double.
There were a couple of controversial moments during the encounter, namely when Leroy Fer fouled Gary Cahill in the lead-up to Swansea's second goal, but Azpilicueta felt at least it was a positive reaction to find a leveller in what was an otherwise disappointing day.
"We were coming here to get three points so to get out with just one after the game we had is disappointing," the Spaniard told Chelseafc.com.
"I think we had control of the game most of the time. The two goals came from mistakes so obviously it's disappointing. The first one was a corner for us that we conceded a counter-attack to, and that can happen.
"The second goal I think was a foul. The referee made that decision and we had to move forward, to get in the game.
"The reaction of the team was really good.
"We changed the speed of the game. We tried to come back, we got to 2-2, and we had chances to get the third goal. The spirit of the team was very good."