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The Giallorosse suffered their first defeat of the season following two second half penalties in Tuscany, with Agnese Bonfantini coming closest for the visitors when her first-half effort hit the post.
"I thought we had prepared well for the game," Bavagnoli said.
"In the first half we showed that. But when we create good openings, we have to make the most of them. You need to score."
She added: "In the second half, after we conceded the penalty, we pushed forward and were always playing in the opposition half - but I'm more disappointed about the first half.
We could be talking about a completely different game, instead we are talking about a defeat we shouldn't be.
"We have to take this one on the chin and understand that in Serie A you have to play a certain way to be successful, and you have to be clinical."
With four points from a possible nine to start the season, Bavagnoli acknowledged there is work to be done over the forthcoming international break.
"I take responsibility, but there's a lot to do," she said. "Empoli showed conviction and made it difficult for us.
"We will work on the mistakes, of course. I believe in the work I'm doing, that the players are doing, that the staff and this club are doing.
"We have to be focused and attentive and we need to make sure we have that hunger to win, like Empoli did today. And that means we have to work hard."
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