Both sides gave their all in poor conditions at Victoria Park without finding a route to goal.
The point sees the Glovers drop to fifth in League One, while Pools are now six short of safety in the relegation zone.
Glovers' striker Paddy Madden went closest for the visitors, his 35th-minute snap-shot crashing off the underside of the crossbar and bouncing to safety.
After his side's first goalless draw since March last year, Johnson said: "It's a rare 0-0 draw for us. Both teams have a lot to play for and maybe this point will look ok later in the season.
"Let's not hope we look back at is as two dropped. Hartlepool are in decent form and they were trying to win the game as well, I was just disappointed we didn't find that killer ball.
"It's a long way for a 0-0 draw. It's a better result for us with the way other results went and we are still very much in the mix."
Johnson added: "It's seven hours on the way back, and we're not going home happy, but I go over the game in my head.
"Our opportunities weren't easy ones and in the final third, we couldn't quite find that bit more to give our strikers an opportunity to slip it.
"On the day we just couldn't get the quality to set the teams apart."