Caulker, who scored England's second goal, said he received plenty of advice before his debut.
"A lot of the boys were very encouraging, especially Phil Jagielka who obviously wasn't playing", Caulker said. "He was talking to me and telling me to be calm and collective. It was a big help.
"I thought it went well and I hope to improve and be back next time.
"I felt I learnt a lot especially against a world class striker and they were superb finishes from him. His fourth goal was the best I've seen in my career.
"It was a good experience and definitely a learning curve."