The Scots lost 1-0 to the 2015 hosts, Canada, in a play-off for third and fourth place yesterday, but Signeul said: "We can take so much out of these games against higher-ranked sides. It has been a great experience, and given us the opportunity to play against teams with different styles. This is what it is like on the highest levels and we have to be able to cope with that.
"Of course it is disappointing that we didn't win a game, but our players are at the end of a very long season. We knew it would be tough but there is no doubt it was the right thing to come and play in this tournament."
Canada, ranked seventh in the world, scored their winner eight minutes from time when Sophie Schmidt headed home at the near post from a corner. Although it was an unsatisfactory goal to concede, the Canadians just about deserved the win with Scotland captain Gemma Fay having earlier made two vital saves.
Prompted by another excellent performance from Kim Little, the Scots' best spell was at the start of the second half when they created a number of chances - the pick of which was a 20 yard shot from Jane Ross which hit the bar and went over.
Hosts Brazil won the tournament, beating Chile 5-0 in last night's final.