Gary Johnson's Glovers secured promotion to the Championship for the first time after Sunday's play-off final win over Brentford, while Pools are currently preparing for life in the bottom tier without a manager following relegation and the subsequent sacking of John Hughes.
"Seeing what Yeovil Town did at Wembley on Sunday has to inspire you, but it also hurts because I don't think we should have been far behind them in terms of the players we have here," Hartley said in his club website blog.
"Obviously they must have something within that group that we don't and we have to try and find that next season.
"Why can't we follow their example and do something like that? They're a similar sized club to us and it just shows that if you're a well-drilled team and work hard then anything is possible."