Rob Street had the Imps ahead on halftime, but Chelsea fought back in the second-half as Tyrique George levelled and then setup Facundo Buonanotte for his winner.
Maresca said afterwards: "I think the first-half, we knew already, we were aware of the game that we expect in terms of long balls, duels, throw-ins, free-kick, every time inside the box.
"I know that some of them, they didn't play these kind of games, I asked today how many of them they play against, you know, League One team, because you need to know a different kind, you need to play a different kind of game, it's not the same game, because the desire is double from them, from duels, these kind of things. We struggled in the first-half, I think in the second-half we were much better."
On Buonanotte, he said: "Buonanotte was very good. I think first-half, we all struggled a little bit, second-half I think we were much, much better.
"Second-half, half-time, we changed something tactically that I think has been important."
Maresca added, "If the next game in Carabao is again against the team League One, League Two team away, for sure tonight the experience will be good for the next one.
"So, we need this experience. We need it. Also, because you know already about the age, the experience, players that never played this kind of games. So, tonight has been good also because we won the game."