The Wales international was sacrificed in the 41st minute as Guidolin scrapped his three-man defence, replacing him with Mo Barrow.
Taylor was visibly angry when coming off the pitch and although Guidolin admits he made an error of judgment in the way he went about it, the end result speaks for itself after the Swans came from a goal down to lead 2-1 before Diego Costa's late equaliser.
"Yes, yes, I apologise on the bench, and in the dressing-room," said Guidolin of the Taylor situation.
"He is a clever guy. I think he understood, but I made a mistake. I should have waited three minutes.
"But Mo (Barrow) was ready five minutes before, so I decided to do it this way.
"It's the first time in my career I have done this. I am sorry for Neil Taylor.
"Chelsea are a strong, strong team. But we are happy because we changed something.
"My team needs a reaction. Probably, with the change of shape, we played in the second half with more aggression, energy and intensity. We are happy with our result."