The Highlanders scored a 27-20 victory over the Bulls and, with it, will go into the bye week on the back of two straight victories.
Joseph said the side had talked this week about playing for enjoyment and backing its ability.
''The Bulls came out and put a lot of pressure on us but we didn't lose focus. They came out and played a different type of game, running the ball,'' he said.
''But we did not lose confidence ... I thought in that time we were playing pretty solid, with a penalty here and there. I was really happy with the tempo of the game we played.
''We talked to the players this week about enjoying their football and playing to their potential. That is what we talked about this week.
''The difference between this performance and the last performance was the mentality and where we are when we go into games.
''If we are going to be a team that features at the end of this competition we need to play like that and play with a bit of freedom or feel we can play with a bit of freedom.''
He said the side made the right decisions at the right times, and the attitude in defence was outstanding.
''What the players were feeling [was that] if we were able to hang on to the ball then the chances would come, and that is exactly what has happened.''
The Highlanders have next week off with the bye and then head to South Africa.
Joseph said the squad would have five days off and would head to the republic a day earlier than usual to get over the jet lag. A squad of 27 will travel.
The only injury from last night's game was lock Brad Thorn, who was forced off with a biceps injury.
Hooker Liam Coltman said the team went up a gear last night.
''We knew the Bulls are big and physical, so we had to step up to that level and we had to meet them.''
He said the side did not panic when it had no ball in the opening quarter of the game.
''We just knew if we stuck to our guns and wore them down we would come out on top.
''We were always there and it was just our little mistakes which were keeping them in the game.''
Coltman had no explanation for the Highlanders getting caned in the penalty count at scrum time, and said they simply just kept doing what they thought was right.
