The ART driver won the title despite stalling on the grid and finishing one lap down in 24th place, as his closest rival Edoardo Mortara was also out of the points.
"It wasn't easy to smile after the race," Hulkenberg told autosport.com. "Being champion is the most important thing, but it's a bit frustrating.
"On the one side I am happy, but on the other I'm disappointed about my mistake. To stall on the grid is never nice."
The German added that it would take time for the title to sink in, and he believes that his form through the season makes him a deserving champion.
"Of course, you don't want to be champion like this, but we have had a great season," he added. "There were some ups and downs, but finally we have done it.
"We had lots of good results this year, we won five Saturday races in a row which shows how strong and consistent we were. I think I just need some time to realise that and to get happy."
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