The Daggers found themselves two behind in the second-half before clawing the deficit back to set-up a midweek replay.
And with his side struggling in the National League, Taylor said his side should be able to learn from the day.
"Full credit to the players because I thought they tried to get the goals," he told the club's website."But they had to do it in a way that they had to be a bit braver on the ball.
"I asked them after what the difference was [from the league performances] and the difference was the character and bravery on the ball.
"We've got to learn from that. That's got to happen at 3pm or 7.45pm every game, not when we're behind and chasing the game."