The North London outfit had the chance to snatch all three points against the Cottagers when midfielder Mikel Arteta stepped up to the spot but the Spaniard's shot was saved and the Gunners were forced to settle for a 3-3 draw.
"I think Mikel took the ball and he wanted to score because he had conceded the penalty at the other end. He really wanted to score," London24 quotes Giroud as saying.
"But yes, I was confident. Some guys have already asked me why I didn't take the ball but it's like that before the game. The boss has a list of penalty takers. It's very difficult because Mikel was under pressure. In the last minute, it's not very easy to shoot a penalty but it's like that."
Arsenal currently sit eighth in the Premier League table.