Gaston Brugman put Parma ahead before Alex Sandro (2) and Matthijs de Ligt struck for Juve.
“We made life difficult for ourselves with the opening goal, then ran a few other risks on set plays, and it's a pity because we'd done well defending from dead ball situations this season," Pirlo told Sky Italia.
“We did well to turn it around and the win was important for our confidence, as we played well and needed to take home the three points.
“We have instinctive players, but must also give them directions on the positions to hold. They did it better in the second half than the first, especially with the body positioning to receive the ball. We were too distant in the first half and that slowed down the passing movement.
“Maybe we don't maintain the same concentration and pace from match to match. Sometimes we are a little slow, we hold onto the ball, allow the opposition to occupy the space and it all grinds to a halt."