However, despite calling it a "good" performance, Yates believes that his players need to be more ruthless in front of goal.
"It was a good performance and we bossed the game for long periods. I think we deserved the win but we could have made it easier for ourselves," he told BBC Sport.
"I had a little moan at the lads at half time because we missed three or four really good opportunities and that could have cost us.
"We need to be more ruthless and we were nearly made to pay because they had a great chance to open the scoring late in the game but we got away with it and we got the win we needed with what was a good away performance overall."
Cheltenham are 13th in League Two.