The Valencia result confirmed Lorenzo's fourth place in the standings, making him the best of this year's newcomers.
"We're very, very happy with the rookie trophy, that was quite important for us," he told the BBC. "Next year we hope to fight for the big trophy."
He qualified seventh at Valencia and lost more ground at the start, before picking up pace later in the grand prix and recovering to eighth place.
"It's not the best finish of my career for sure," Lorenzo said. "We couldn't get a good pace or the right feeling all weekend.
"In the race it was getting better, and I'm happy because yesterday with the race tyre I was last (early in qualifying), and today eighth is not so bad. But it's not the best dream finish."
The double 250cc champion made a spectacular start to his first MotoGP campaign by taking three straight poles and then a maiden win at Estoril.
But Lorenzo fell off the pace in the summer after a series of violent accidents, and was also hampered by his Michelin tyres' inconsistent form.
"I learned many things, not only professionally, but personally too," he added to Italia1.
"It's been a very tough year, with many lessons, many crashes, and many internal problems, so this will make me a lot tougher in the head, and it will be good for the future."
Lorenzo admitted that he will need to be more consistent to mount a title challenge, but thinks he will benefit from next season's change to control tyres.
"Consistency is very important, but you have to be on the podium very regularly," said the Yamaha rider.
"If you are fourth or fifth it doesn't matter. You've got to be competitive, and for sure with the new regulations for the tyres it will be less confusing."
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