Both sides had chances to win at Hampden Park in Glasgow, but had to settle for a point apiece in the Group A fixture.
"I would say that 0-0 is more or less an honest result," said Mihajlovic. "I expected honestly that we would win against Scotland but we made a few mistakes.
"Scotland had some chances in the first half and also two or three in the second half. I must be satisfied with the point at the start of this qualification round, although we have some things to change to be better in forthcoming matches.
"If you cannot win, it's important not to lose."
Serbia will host Wales at Novi Sad in their second Group A match on Tuesday.