A second-half strike from Edinson Cavani and a stoppage-time equaliser from Matuidi were enough to secure a point for Laurent Blanc's men, as they fought back from 2-0 down to extend their unbeaten Ligue 1 run to 11 games.
"We did well in holding our own with our strength of character," Matuidi told L'Equipe.
"Last year, we would have lost a game like this, even at 11 against 10. We wanted to continue our unbeaten run, we knew it would be complicated against Saint-Etienne and it was.
"We are happy to have pulled it back to 2-2 and that this run has not stopped today."
Meanwhile, despite being frustrated for much of the game against a spirited Saint-Etienne side, coach Blanc says he still found the time to enjoy the occasion.
"The match was difficult for PSG, the technical staff and myself, but contrary to what you might think I actually had a good time," he told Canal+ after the game.
"PSG needs to understand that it is a good thing that we can still be challenged by teams such as Saint-Etienne."
Despite his own personal experience, Blanc was unhappy with his team's defensive display.
He added: "Tonight we gave two goals away to Saint-Etienne with two defensive errors.
"We did not do enough to win the game and, with the game they had, Saint-Etienne deserved at least a point."