The League One side controlled the first half at Victoria Park and a 12th-minute goal from skipper Carl Baker looked like it might have been the first of many.
But Pools looked a different side after the break and deservedly earned their place along with the Sky Blues in the FA Cup third round draw after Andy Monkhouse headed in an equaliser after 78 minutes.
Pressley said: "They were in our faces and I altered the system to get the second striker up there because we had no out ball.
"Sometimes when teams come down against you, you need to be able to spin the ball in behind them and keep the game up there and play in their half. But we didn't have that out ball.
"I give them a lot of credit. They try to play the game in the right manner, they pressure the game and they have a lot of young players that are desperate to make a name for themselves.
"All-in-all it was a difficult game and a good result for us."
The replay between the two sides will take place at Sixfields on Tuesday, December 17.