Goals from Premier League regulars Vincent Kompany and Jan Vertonghen either side of the break put an opening victory out of reach on the night for Wales.
But Bale is confident that Wales will be in a good position to qualify if they can pick up two wins from their next three qualifying clashes.
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"Our target is to pick up two wins by the end of the first four matches," he told The Sun.
"Of course, it's important to win your home games and anything you pick up away is a bonus. But we will still go for the wins away from home.
"This is a group where there is no one massive country like a Germany, France or Spain. Everyone can beat everyone."
The Welsh squad take on tough opposition in Serbia on Tuesday evening, and a win on foreign soil will be vital if progression is still an ambition for Coleman's side, says skipper Ashley Williams.
Williams stated: "We go there under no more pressure than we were. You don't qualify for anything from the first game.
"We think we can go elsewhere and pick up points, whether we're at home or away. The only pressure is what we have put on ourselves to qualify.
"We don’t want to be saying we had a good campaign but missed out on going to Brazil."
New Liverpool signing Joe Allen will return to international duty with Wales on Tuesday night after recovering from the illness that ruled him out of his country’s opening clash with Belgium, and Coleman thinks they will put in a good performance..
"We go to Serbia confident we can get something," Coleman stated.
"We will start scoring because we have creators and players who can finish chances. So we now have to go to Serbia and put in a performance."
Wales continue their qualifying campaign in October with clashes against Scotland and Croatia.
Craig Levein’s men opened their Group A account with a goalless draw at home to Serbia, while Croatia kicked off with a 1-0 victory over Macedonia.