The Warriors can now look forward to a two-legged final to try and secure a return to the English top-flight and Hill admitted his team would need to rectify the mistakes in an error-strewn show over the Blues.
"There were lessons to be learnt from that - even at the end when we scored the try," said Hill.
"Credit to Joe Carlisle, to step up and make that, with so much at stake, showed tremendous nerve. But even on the restart receipt, Dale Rasmussen took it well and we needed one of the half backs to put it in the other half.
"We tried to run it and run it, I'm screaming at them but they can't hear me because the crowd is lively. In the end we lose the ball, give the penalty away and they had a drop goal chance. But we should never have been in that position.
"It's about composure and making the right decisions at the right time. There are certain things you can't work on, if you drop the ball that is about calming down and being less anxious. But other decisions about what you do in the red zone, what you do with the wind behind you, that we can learn from.
"This will be a big learning game for them," he added. "I was pretty calm before the game and I thought the players were, but obviously they weren't. One or two of them were a bit too frenetic.
"They will learn from this. They will know how they approached this and how nervous they were does nobody any good.
"We have to relax and we will learn. We will sit down and have a chat with the players and go into the final a lot less pressurised.
"This was the key game - I think everyone in the club was nervous about the semi-final. It was always going to be a tough one.
"I'm sure the tension will arrive still further for the final, there is no doubt about it, so there is nothing easy about a two-legged final.
"We saw what happened to Bristol last year, but fortunately we can pick up some very good lessons from today and I cannot see us having such a nervous performance in the final.
"We were nervous in the semi-final and got away with it - we need more composure for the final."
Hill admitted he also did not need to speak to lock Graham Kitchener after the England Saxons star was involved in huge late drama.
Kitchener looked set to drag Worcester back into the game as he tore over, only to lose control of the ball as he celebrated and went to ground it.
"It's fair to say twenty-one other players have spoken to him. I think someone suggested he should do the lottery later after escaping that one," admitted Hill.
"Had the forwards not scored from that scrum he would have been feeling very bad about himself later, which is a shame because when he came on he played well and made a difference.
"He got a bit carried away when he thought he had scored the try, but you have got to get over the line and make sure it is secure. Fortunately that ultimately didn't affect the result and he knows not to do that again."