England gave up the lion's share of possession and conceded a number of chances during the opening 45 minutes at the King Power Stadium, only to hold on and go into the break all square.
Marcus Rashford's 54th-minute strike ultimately proved to be enough for England to return to winning ways, and Maguire was pleased with the victory and maiden call-ups for Leicester teammates Demarai Gray and Ben Chilwell, the latter of whom made his international debut at his home ground.
"There were a few words spoken between the boys at half time, the pressing was bits and bobs, the gaffer had stern words with us," Maguire told Sky Sports News.
"We struggled early on in the game but we want to be confident in playing from the back and we did it better in the second half. We do not want to give chances and goals away.
"The atmosphere here was brilliant all night and the crowd were chanting my name so it gives you a boost. It is nice to get a victory. We had to stop the trot after three straight defeats and kept a clean sheet too. I am delighted for Ben Chilwell, him and Demarai Gray deserve it, both are top boys and have a big future in the game."
England's next match sees them take on Croatia away in October.