The Pole, in his second season at Oakwell after arriving from Reading, smashed home an unstoppable free-kick to haul his side level at Forest, but a late header from Darius Henderson secured Billy Davies's promotion-chasers another three points at the City Ground.
Cywka, who has started only once this season, said after the Reds' third straight away defeat: "I'm very happy because I'm staying in training every single day practising these free-kicks.
"It was quite a big distance, but it would taste much better if we did get a point out of the game.
"I'm just really happy that the work I put in paid off, obviously when I'm on the pitch I may have one or two chances in 90 minutes and it's got to be perfect. That's why I practice in training to make the best out of it."
The 25-year-old added: "I'm not satisfied sat on the bench.
"My aim us to start every week. I'm working hard on the training ground and on the pitch when I get on. I want to help the team."
Cywka is hoping to return to the starting XI on Tuesday night when Barnsley chase their first points on the road this season at Bournemouth.