The Iranians were tipped by many to lose against the African champions, but they produced an impressive defensive performance to earn a crucial point in their opening World Cup match.
"I am very happy but it was very difficult, we played against a great team and it was necessary to play a realistic game," Queiroz is quoted as saying by Sky Sports News.
"I think we did well, we fought for every ball and every space, and we played 90 minutes with one thing on our mind - the first opportunity to score.
"It was a game that I need to praise my players, they deserve to be congratulated. We kept the team in the tournament and now we have Argentina. The most important thing is that everything is open for us."
Iran will now face Argentina in their second Group F match on Saturday.