"It's a massive honour to play for your country, no matter how long you are on the pitch for" he said.
"If I never get to play for Wales again, I've achieved something every young boy in Wales wants to do so it's something special.
"It's hard to picture that just 18 months ago I was out in Italy with Milan, hoping to use the experience to further my regional career. Since I came back, I've been heavily involved and I had a busy time with the Ospreys last season. I played a lot of rugby and to be included in the Wales squad at the end of the season was a real honour."
Baldwin replaced Emyr Phillips in the second Test as Japan levelled the two Test series at one all.
"It was disappointing, as you'd expect," he added.
"Watching the first half from the side, I thought we were that close to breaking them, one pass away from scoring the try.
"Obviously it meant it was mixed emotions for me personally, getting on at the end. I was proud to get my first cap but disappointed to have lost the game, which was the bigger thing overall."
After a spell with Swansea in the Principality Premiership, Baldwin travelled abroad to join Ospreys partner club ASR Milano. His time in Italy led to him progressing to the Wales set-up after a successful year at regional level.
He added: "It's worked out for me, just like it's worked out for a lot of our young players playing in the Premiership. Dan Baker had a great season with Swansea and was rewarded with his first cap out in Japan as well. There are a lot of boys in our squad who've done well at Premiership level and stepped up which shows that if you do well and work hard, you'll always have a chance of bigger things."
A taste of the international game has left Baldwin hungry for more and although British & Irish Lion Richard Hibbard is undoubtedly first choice hooker at the Ospreys, he says he wants to push him all the way.
"The first thing I thought after the second Test was I want to experience this again," he said.
"To do that, I've got to play well for the Ospreys. With someone like Richard Hibbard in front of me getting regular rugby is a real challenge but it's one I'm looking forward to.
"He's a Test series winning Lion and Wales regular. He's been outstanding over the last couple of seasons and I know that playing alongside him can only make me a better player as I'm going to have perform to international standard just to start a game for the Ospreys."