Diogo Jota's header and a late Fabinho penalty were enough to send the hosts top of the Premier League – albeit briefly with Manchester City winning later in the day – but Watford were left rueing missed chances for Juraj Kucka and João Pedro.
“First and foremost, we're disappointed we lost the game but I think we can be happy with the performance," said Foster after full-time.
“The fact that we restricted them to very few opportunities, I've only had to make a couple of saves, is testament to how well we did today, coupled with the fact that we had some proper chances of our own. If we'd stuck one of those in it would have been a completely different game.
“We're away at Liverpool and that's what the top, top teams do. When they get their chances, they take them. It's disappointing but I think we can hold our heads high today."
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