Stephan Lichtsteiner had opened the scoring before Icardi nodded in and then set up the winner for Ivan Perisic.
“If we played every game like this, we'd have great success," Icardi told Mediaset Premium.
“Juventus are a great team, so these matches are the ultimate for us."
Frank de Boer has been under immense pressure, but Icardi showed great maturity in his post-match comments.
“It's hard for Coaches in football. They teach us things, but we are the ones who step on to the pitch and have to put it into action. It's always the Coach who is penalised, but from the start De Boer gave us great hunger, told us to press high and we managed it.
“Juventus are one of my favourite teams to score goals against. However, we can't just play one good game. We must continue like this."