The captain came off the bench to score the winner after Dries' Mertens brace for the 3-2 Champions League victory.
“I was relaxed, as I accepted the decisions of the coach and knew we needed everyone to give their contribution in this game," Insigne told Sky Sport Italia.
“We showed the right spirit and must continue like this."
Insigne hugged Ancelotti after the winner and added: “What happened with Ancelotti is water under the bridge. I respect him a great deal and he has always shown that he has faith in me, even when I didn't play, so I felt important to him.
“I had some wrong attitudes before, I apologised for that. I also want to dedicate the goal to Tommaso, our kitman, because he had a slight accident and wasn't able to come to Salzburg with us. We all wish him the best."