Barcelona returned to the top of La Liga and ended a run of two successive league draws with the convincing home win.
Alexis Sanchez hit the post as early as the sixth minute, but Malaga goalkeeper Willy Caballero was in inspired form and kept the hosts goalless until just before half-time.
"It was a game that we dominated from the first minute," Pique told Canal +.
"We scored the goal in the first half, but it should have come a bit sooner.
"Despite the bad times we've had, we've managed to stay at the top. We have a solid team that can stay in first for a long time yet."
"We always knew it was going to be difficult coming here," he said.
"But we've had two or three chances and didn't take them."
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