When Milivojevic slotted home his ninth Premier League penalty of the season, it was no more than than Palace's second-half performance deserved; a 45-minute display full of intriciate final third play that resulted in Palace breaking in behind the Terriers defensive line time and time again.
But it wasn't always looking so comfortable for the Eagles but the players and the manager didn't need telling that with Milivojevic revealing exactly what was said - and done - between Roy Hodgson and his side during the half-time interval:
"We changed the system second-half and we went to play with two strikers upfront.
"The message was to remain calm and not to react because we know as time moved on we would become more nervous. But we dealt with that very easy today, even though we missed a lot of chances.
"In the end I feel we deserved these three points and we are so happy we managed to keep a clean sheet as well."
When Milivojevic stepped up to take the penalty, such is the Serbian's consistency from 12-yards, the onlooking Selhurst faithful knew what the outcome would be even before Milivojevic sent the Terriers' Ben Hamer the wrong way.
But Milivojevic revealed post-match that it took a lot from him to remain calm and to summon the energy to give the Eagles the lead:
"I was not relaxed to shoot - it was not an easy game and especially when you miss a lot of chances. However, I had in my head that I needed to concerntrate and decide where I want the penalty to go, to put it where I wanted; I think the penalty was decent but when the ball goes into the net we can say it was perfect."
