The World Cup winner said that Milan did well to stifle Barcelona's passing rhythm, but claimed that a point at the San Siro should not be considered a poor outcome for the visitors.
"I expected Milan to stay close and when we attacked with many players we couldn't find space [and] we still tried to win the game and a point each is a good result," Iniesta told Sky Sport Italia.
"Milan put in a great defensive performance, making it difficult for our style of play.
"We had a few chances to make the difference, but at the end of the day this is a good point. We're in a good position in the table and look forward to the second match on home turf."
The draw maintains Barca's position at the top of Group H.