The defending European champions were frustrated for long spells by their Czech opponents, but Guardiola was left convinced that his side deserved the win.
"We put on an exhibition and played in a resounding manner," he said. "The news tonight is we have achieved it without Lionel Messi scoring.
"We know that the most difficult thing [against a defensive team] is to score but that is all part of the process; we had a lot of opportunities and sometimes we were assertive while at other times we weren't.
"In general I thought we played well. The fact that we didn't concede means that the whole team was involved. I congratulate my players for taking the game with the seriousness it deserved."
Despite the win, Barca are still second in Group H behind leaders A.C. Milan.