The Potters gave up a free headed goal in the 2-1 loss to Bournemouth last Saturday.
"What it does do is let you take things forward," Taylor said of the error.
"You always learn from every situation, there's always a positive out of every negative. It's how you take that situation and improve it and progress it.
"We would all love perfection, but you ain't going to get that, so as long as you get progression, that's the most important thing, that we can progress every single week.
"The players have been disappointed as well and it's good they've responded in the right way. They were gutted because they take pride in it.
"Towards the latter part of the week we were working on set pieces, both defending and attacking, and to go and lose the goal was extremely disappointing.
"I'm quite sure that at set pieces they will be well switched on."