Asian representatives South Korea, Japan, Australia and Iran have all failed to win any of their matches at the World Cup in Brazil so far.
"Asian teams year after year keep making the same mistakes, so they'll never be able to be on the same level as Europe or South America," Queiroz told BBC Sport.
"It's because of the competition system, the training and organisation. You cannot copy Europe because the day you think you are close, they are one step ahead because they also progress."
Iran lost 1-0 to Argentina in their second match of the competition on Saturday.