The Giallorossi had to settle for a 0-0 draw in their Champions League group stage opener against the two-time finalists, with goalkeeper Alisson Becker making a number of good saves at the Stadio Olimpico.
Eusebio Di Francesco's side had their chances to grab a winner too, particularly in the first half, and Nainggolan felt a draw was a fair result.
"It's an important point for the confidence," Nainggolan said. "We managed to create some good chances in the first half - their goalkeeper made a good save from my shot. Then Alisson after that made quite a few. We feel a draw is a good result against what is a top side."
Nainggolan acknowledged that the players were still adjusting to a change in coach and playing style.
"We are at the start of the season, there are new tactics and a different style of working to what we were used to," he said. "It's normal that it will take a bit of time to be 100% for 90 minutes. But only through work will we get better at this.
"We have changed a lot - to a new style of play with a new coach. It will take time to do everything perfectly. We are not robots, we are working on it and we hope to keep getting better in a number of ways."
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