Bath held strong during an intense five-minute period for Richard Hill's men and forced a try of their own just minutes later.
But Percival says Warriors will still aim for seven points rather than three and believes his side has the calibre of players to take advantage of those situations.
He said: "It was my decision on the day to kick for touch and I've got belief that if we're going to be a successful team we should be able to finish teams off in their 22 and drive them over.
"Whether the three points would have helped re not, I don't know. But we should be on the front foot and putting other teams under pressure."
A try for Warriors would have put the visitors ahead for the first time in the match and Percival admits that the phase of play proved to be the turning point.
He continued: "It gave them a bit of confidence when we didn't drive them over and they upped their game afterwards. We just need to be more composed in those areas and finish it off."
Warriors host Northampton Saints next Saturday looking for their first Aviva Premiership win since Christmas.
And, according to Percival, the side will be doing all they can to pick up as many wins as possible from now until the end of the season.
He added: "It's a big home game against Northampton and we need to get a win. We need to focus on our home performances and get wins at Sixways.
"Every game is a big game for us. There's eight more games and we'll look at them one by one.
"I don't think there's a lot more to say after today's game. Everyone will look inside themselves and know what they need to do ahead of the next game."