The left-back picked the perfect moment to curl home the first goal of his Saddlers career - and his first since September 2008 - as his last-gasp free-kick rescued a 1-1 draw at the Weston Homes Community Stadium.
But Taylor felt Walsall should have been travelling home with more to show for their efforts than just the solitary point.
"As strange as it seems, we were disappointed in the dressing room afterwards because we felt that we should have come away with all three points," he told the club's official website. "I've not played in many one-sided games like that, particularly as the away team.
"We were camped in their half in the second half and it would have been easy to have got frustrated after 70 minutes, let our heads drop and changed our system.
"But we kept the belief in what we are doing and worked hard to eventually get something out of the game.
"It's all about consistency, if you can put a run together you can shoot up the table. We will look to keep doing the right things and keep playing our football."
Taylor continued: "For me personally it was nice to get back on to the scoresheet and I was pleased with the goal. It's been a long time since I last scored."
- Sports & Recreation