Nicolas Nkoulou had Toro ahead before Weston McKennie and Leonardo Bonucci struck late to secure Juve the points.
“It's more exhausting as a player, very different as a coach, but the feeling of victory is the same," smiled Pirlo on Sky Sport Italia.
“When you lose every challenge, it becomes difficult to control the game. We were too static, we never filled the box when we did manage to find some width to put a cross in and it's difficult against a five-man defence.
“We remembered after the break that the Juventus DNA is to put in heart and sacrifice. Once you can pin Toro back into their own half, it becomes easier to get the breakthrough.
“Not everyone can always give 100 per cent, but those who came on provided determination, dynamism and attacking spirit, which is what won us the game.
“When opposition teams clam up and are very organised, you have to keep moving the ball to create the spaces and stretch them out. We didn't do that in the first half, we did after the break.
“If we lack heart, we don't move it as quickly either, and it all comes together. Sometimes, it's not simple to find a breakthrough just by creating clean passing moves, you have to fight."
He added: “A side like Juventus absolutely cannot go into a game lacking character, tenacity and hunger. You need the style and good football, but also the determination. You can't just have one without the other."