Les Bleus delivered a convincing performance against the European champions and secured a deserved victory when Chelsea striker Loic Remy fired home after a good team move in the second half.
"Spain made us suffer towards the end but we made the effort," he told TF1. "This is a good result for our return.
"We can be more accurate but we've kept the same desire and the same enthusiasm as in Brazil."
Match-winner Remy added that the team have been eager to get back into action in front of their own supporters after impressing during their run to the quarter-finals in Brazil.
"The World Cup was a great experience, both in personal and in sporting terms," he added. "We've been eager to do well for our supporters and have been impatient to return."
France continue their build-up to the Euro 2016 finals with a friendly match against Serbia on Sunday.