Tries from Ewan Ashman and Kyle Steyn hauled Scotland back into an absorbing contest.
Darcy Graham and Rory Hutchinson had been held up over the line in the first half when Cameron Roigard and Will Jordan scored for the visitors.
“Teams get tired when you knock on the door,” said Townsend, who has now lost three home Tests against the All Blacks as head coach – all by single digit margins.
“I’d love to be playing New Zealand again next week. We play Argentina and we need to put in what we have learned.
“This is the first time this team has played together since the Six Nations. To get that cohesion straight away is difficult and to see it grow during the game is encouraging.
“But it’s so frustrating with that effort that we didn’t get a win.
“It’s the closest we’ve come to winning, I believe. We dominated the second half, territory, pressure, skill. We’ve not done that against New Zealand in our history and we are better for the experience.
“Our journey doesn’t stop today. We have a very big game next week and bigger games to come in the Six Nations.”
Scotland captain Sione Tuipulotu described the loss as “bittersweet” and stressed the importance of a win against Argentina, having opened the autumn series with a record score against the United States.
“I told the boys we needed a reaction at half time,” he said. “Either we lie down or choose to go for it.
“We had nothing to lose and everything to gain.
“We have to bounce back for next week because Argentina aren’t going to make it any easier.”