The New Zealander, whose side lost their last encounter in this year's RBS 6 Nations 33-25, said: "No, we never blew it. Scotland defended well but we made too many errors, especially in the last 20 minutes of the first half.
"The team played for 80 minutes and we're disappointed we didn't come away with a win but it was a good game of rugby.
"I believe it's been a good tournament for us and we have developed during it, but we need to learn to win matches in these situations.
"Our objective was to win a game and to gain respect in the world of rugby and also to show that we are a side who can compete without giving away penalties.
"Before this game we were the cleanest side in the tournament but there is still a lot of work to be done ahead of the World Cup."
Kirwan admitted he was not surprised by the Scots' tactics and paid tribute to Ian McGeechan's side's fortitude.
He said: "They played pretty much the way we expected with passion, heart and in a physical way.
"We knew if we could keep possession we could put them under pressure and get some tries.
"But Scotland will be pleased with their win and they should be very proud of the way they played."