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Pierce's attorney said Pierce was caught off guard early Saturday when Burress somehow fumbled his gun and shot himself.
"I am not sorry for how I acted that night," Pierce told The New York Daily News after Giant's training camp. "I'm not sorry for how I responded. I am sorry for putting myself in a position that I had to respond the way I had to respond.
"There's a lot of lessons I learned from this. I've taken them to heart. I've taken them seriously."
Pierce told a grand jury last Thursday and Friday that he was simply coming to his friend's aid when he allegedly took an illegal weapon to New Jersey after Burress shot himself in the thigh at The Latin Quarter on Nov. 28.
He said he had no criminal intent.
"I thought I acted very reasonably, responsibly and instinctively," Pierce said today. "Basically a teammate was down and that was my concern that night, to get him help."
Burress shot himself in the thigh at the Manhattan nightclub last November and will face trial on two counts of criminal possession of a weapon in the second degree and one count of reckless endangerment.