Spurs jumped to a 2-0 lead beforePSG fought back in the final ten minutes to draw 2-2 in normal time. PSG then went onto win the penalty shootout 4-3.
Palhinha said afterwards: "We played a really good game; we deserved much more. It's really sad to end the match with this result, but that's football. We did what we had to do. I know this team's potential and I know we can achieve great things together.
"This is the start of a journey together, for me too. I repeat, I think we can achieve excellent results. Tottenham is a great club, they've proven it in the past and will prove it again in the future."
On returning to the Premier League, the signing from Bayern Munich added: "I'm really happy, I already had a great time at Fulham. I missed the Premier League and I'm proud to be back. This is a top team and there are many top players beside me."
Meanwhile, Kudus stated: "I would have liked to win, but as a team player I'm focused on the group. We all gave our best and were competitive against one of the best teams in the world, and we have to continue at this level.
"I'm thrilled to have joined this wonderful club (from West Ham), now I just want to adapt to what the manager asks. There's still a lot to do."