The Rossoneri are yet to secure a home win this term as they host a Juventus side in superb form.
"The main thing was that we won and took three vital points to close the gap on the top," Pirlo said after Sunday's victory at Cagliari.
"I don't think that there are any negatives because we went behind and missed a penalty but we reacted well because we wanted to win at all costs.
"The game against Juventus is a historic clash. I think it will be a great game with a unique atmosphere.
"It's great to see Juve back in Serie A and to have the chance to take them on again. What better occasion to get rid of this San Siro taboo?"