Taylor, who was overseeing the Gulls once again as boss Martin Ling remains absent through illness, was unhappy with the scoreline at Plainmoor but felt the players had given a good account of themselves against the promotion-chasing Millers.
They were level at half-time and had created the better of the chances, but Steve Evans' side struck early in the second period of the League Two clash.
He said: "We are very disappointed but again it was another very good first-half performance.
"We conceded the goal just after half-time and that's made it difficult. Michael (Poke) has put his hand up for that one.
"We huffed and puffed a little bit more second half although we still had some chances but the second goal then made it very difficult for us to come back.
"Then we got the penalty and they go up the other end and score so it's a disappointing second-half performance really.
"I didn't say a lot at half-time because it was a very good first-half performance but maybe I should have said more but we are just not putting it in the net.
"Again we had good opportunities, I don't know how many we had but you look at yourself, you look at the bench and you think it's going to happen in a minute.
"They keep going, we had numerous opportunities in the first half (but) didn't take them, then it makes it difficult."