Juve meet Dynamo Kiev in the Champions League on Wednesday after a poor draw with Benevento.
“I don't think I said such strong words in Benevento," Pirlo said. “You need to have more desire to achieve the result and manage the moments of the match in a better way.
“I don't think I was hard, it's just a fact. Tomorrow we will think about putting the best players on the pitch, because all the games are important.
“However, Cuadrado and Danilo could rest, they have played a lot.
“I'm absolutely not worried. In Benevento, it was a game to win, we weren't good at closing the match and then they finished well.
“But it can happen, we analysed the game, and we will try to improve and learn from the mistakes we have made."