Inter had gone into the game with two consecutive defeats between Serie A and the Coppa Italia.
“We must try to remain motivated and cling to our ambitions," Pioli told Mediaset Premium.
“Empoli were not easy to deal with today and we played well, even if we could've allowed fewer chances at the back. We reacted and I am happy.
“They pass the ball around well to open up spaces and their positions were not easy to read. It was important for us to win this match and prove we can get back on our feet after we fall down.
“We knew it will be very difficult to qualify for the Champions League, but must continue to focus on taking it one game at a time, as that is how we are becoming a competitive side.
“I think instead of players who are leaders, we should look to particular concepts and ideas of football that we can all share. If that's the case, almost anyone can play and we'll be the same team, more or less.
“It's so important we build something for these magnificent fans and this great club. We are concentrated only on what we can affect and that means our own performances."