The Wallabies looked set to produce the perfect response to the 54-34 hammering they suffered in the Rugby Championship opener against the All Blacks in Sydney when Beale went over for what appeared to be the match-winning try in Dunedin on Saturday.
However, the world champions were able to hit back late on to secure a dramatic 35-29 win, retaining the Bledisloe Cup in the process.
Despite opening the Rugby Championship with back-to-back defeats, Beale says there are signs Australia are moving in the right direction, having got within touching distance against New Zealand.
The versatile back has now called on the young Wallabies to learn the lessons from the narrow defeat to the All Blacks and continue to improve ahead of the clash with South Africa on September 9.
"That one really hurts, heartbreaking stuff, huge effort from the lads, couldn't ask anything more," he told the Australian Rugby Union's official website.
"A couple of handling errors cost us in the end and that was just a true Test match.
"I think both teams played to the very end and it's just unfortunate that we were put in that position in the end, and that one really just cuts the heart a bit.
"That was a bit disappointing to finish the way it did and so obviously [we've] just got to try and soak it in and try and remember this one so when we come back next time, we'll be playing with a lot to prove."