He said: "It's an absolute honour to captain this club and it's something I've always dreamt of. It came out of the blue and was a bit of a surprise but it is something I would never turn down.
"Richard Hill put trust in me to lead the team and I tried to repay him with a big performance. I came here for a purpose - to take the club forward and I couldn't ask for more tonight."
Andy Goode kicked three penalties and one drop-goal for the hosts as Saracens struggled to make an impact on the match.
Warriors enjoyed large spells of possession throughout a nervy encounter and Percival was quick to pay tribute to the way his side stopped Saracens playing their game.
He continued: "It's never pretty rugby against Saracens. They pride themselves on their kicking game and they often get results.
"So our plan was to go out and play. Hilly put out an attacking side and we did attack. They defended well to be fair to them.
"There were big hits from us when we defended and our line speed was stopping them from going forward - we shut them down tonight."
Percival still thinks there is room for improvement and has urged the side to cut out mistakes ahead of the trip to Harlequins next Friday.
He added: "We have to cut out our mistakes which put us under pressure. We were in the Saracens' 22 a couple of times tonight but after a couple of silly penalties we were back in our own 22.
"We've got look at the video, be disciplined in training and make sure we make improvements. But everyone is delighted with our victory tonight and we will keep pushing on."