The English side found themselves on the back foot as early as the second minute of the tie after Luuk de Jong put the visitors in front.
However, Mauricio Pochettino’s men rallied from behind with a second-half brace from Harry Kane to nick their first win in the competition and brighten their chances of securing a place in the knockout stage.
And the Cote d'Ivoire international, on parade for 75 minutes against PSV, has taken to the social media to urge his side to be confident of securing victories in the outings.
“Good result tonight! Now we must keep belief for the next two qualifying games,” Aurier posted on Instagram.
The 25-year-old has been limited to six appearances across all competitions this season having recently returned from a thigh Injury.