The Italian champions struck twice late on to record a 3-1 win in Serie A and Pirlo was pleased to see his team follow up their crucial recent victory against title rivals AC Milan with another three points.
The Juve boss said: "It was important to have continuity and win, otherwise the success at San Siro would have been useless. We were a bit messy, but in the end the three points count."
Juventus face fellow rivals Inter Milan next weekend and Pirlo admits that he relishes the pressure that comes with big matches.
He said: "These games are fascinating to play for everyone, they inevitably raise the concentration levels and the tension too. We have champions accustomed to this type of big match, so we’ll prepare after the Coppa Italia midweek.
"We are Juventus and therefore have the pressure on us to win every game. We have to face every match as if it’s a final, then we’ll see where we are closer to the end of the season."
Juventus have won four of their past five matches and Pirlo has credited the players for the team's improved form.
He said: "I think it’s above all in self-esteem, but also getting the movements down, as we find the movements more natural now.
"It has to be in the Juventus DNA, the determination and desire to push until the last minute. We can improve our quality, we can play better or worse, but the determination is an element that must never be lacking."