The Bees claimed a 1-0 win thanks to Jake Hyde's strike in their final game at Underhill to move out of the npower League Two drop zone, but only after Chairboys striker Joel Grant had a stoppage-time penalty saved.
"We didn't deserve to get a draw from the game," said Ainsworth. "That was probably the worst we've played since I've been in charge, I think the occasion got to a few.
"Barnet were hungrier, they wanted it more than us. We had a couple of injuries and it weakened us, there is a lot to work on.
"I'm glad we've done enough to be safe and luckily there wasn't much riding on this for us. There was plenty on it for Barnet and fair play to them. They've done what they had to do.
"We were very poor. I'm gutted for the boys because they tried, it wasn't a lack of effort, we just didn't turn up.
"We had a chance late on to get a point, but missing a penalty in the 92nd minute isn't great at any level. Joel Grant is devastated in there, he's really down but these things happen."
- Sports & Recreation
- Joel Grant
- Jake Hyde