In a helter-skelter final round of South American qualifying, Los Incas' 1-1 draw with Colombia was enough to see them finish fifth above Chile.
But now they face New Zealand in a tricky two-legged intercontinental play-off in a bid to make it to Russian Federation.
Plenty questioned Colombia striker Radamel Falcao's actions towards the end of the game, with some suggesting he was telling Peru to play out the draw that helped both sides.
"But I think Peru has been a worthy rival, they fought for 90 minutes just like us".
"We know that they are going to be two very hard matches", Guerrero, who plays his club football for Brazil's Flamengo, told reporters. "We've got a great team".More news: Israel Strikes Hamas Post After Gaza Rocket Fire
Peru's dream of reaching a first World Cup since 1982 is still flickering after a one all draw with Colombia Tuesday evening.
"The last game against Japan was better than the previous games (at the Confederations Cup) - we get our belief from that, knowing we can compete and bearing in mind all of those have been away", Hudson said.
"I think we could do a bit more against Colombia, I would have liked to win and qualify directly for Russian Federation".
But below them are a quintet of countries separated by only two points, from Chile in third place (26) to Colombia (26), Peru (25), Argentina (25) and Paraguay (24) in seventh.
"We have to enjoy this because we knew how to handle every moment, defiant and patient when it was necessary, overcoming injuries or poor performance".
Tapia also said the result had been discussed on the field but also said his team would always play to win. The top four would qualify directly for the group stages while the fifth-placed team would play an inter-confederation play-off with New Zealand (from OFC).