Liverpool ran out 3-2 winners at Anfield on Tuesday, thanks to a late goal from substitute Roberto Firmino in stoppage time.
Sturridge opened the scoring following an impressive half-hour for Liverpool, with Robertson's excellent cross finding the striker in the penalty area.
James Milner doubled the advantage via a penalty before Thomas Meunier pulled one back for the visitors. Kylian Mbappe seemed to have salvaged a point for his side, before Firmino's superb low drive in to the bottom corner with seconds to spare.
Speaking to BT Sport's Des Kelly after the game, Sturridge and Robertson discussed the Reds' opening win in Group C.
"We got off to a good start but then made it a wee bit hard for ourselves," Robertson said.
"But there's nothing better than a late goal win. Bobby's come off the bench and done that. To a man today, we were brilliant I thought."
Sturridge was then asked about his opening goal for the Reds. "It was a great ball by this man here," he said, to which Robertson swiftly joked: "Yeah, couldn't miss!"
"Him and Trent have a little competition going on, so it's good to help him out," Sturridge replied with a grin.
It was a special day for the Sturridge, with it being his first Champions League appearance for Liverpool, with his last showing in the competition coming for Chelsea in 2012.
"I was thinking about that today. The last time was for Chelsea, when we won it," the 29-year-old said.
"It's great to contribute with the team today. But, it's early days and it's only one game so we're not going to get too excited.
"It's a team here and everybody's going to add to the wealth of the club, and add goals, add hard work and determination.
"All those types of things the manager talks about and which is engrained in us now. He's been pushing that for a long time and everybody's in to do it."
The Reds dominated much of proceedings, however they allowed PSG to come back from two goals down and Robertson admitted he thought the Reds may have to settle for a draw.
"I felt we controlled it. Obviously we lost a goal just before half-time and so 2-1's a wee bit uncomfortable," he said.
"We controlled the second half up until it's a sloppy pass in midfield and they broke on. We know the players they've got but it's probably the only time they really opened us up.
"At that time, we probably thought a draw would be it. But the lads stuck at it and kept going and we found that second wind in the last few minutes. The chances then kept on coming.
"Bobby's done a great finish so fair play to him and like I said, all the lads have done brilliant today so it was a real team effort.
"We're good at getting in people's faces, especially at home to make it uncomfortable because we know if we do that then the fans will all get behind us.
"It's a tough atmosphere to play in once they're behind us. At the end today, it was different class."