We must tighten up, says Scott
Despite the result, Scott's men still sit second in League Two and have lost only one of their opening nine games but the manager wants more.
He said: "We need to be more ruthless as a group defensively and make sure everyone knows their jobs and carries them out.
"We've scored a lot of goals and have some very good players and we looked like we could score at will on Saturday but defensively we need to make better decisions and understand what's required and we didn't do that."
Three of the goals came in the first 11 minutes, Lewis Grabban and Ryan Cresswell scoring for the Millers before Billy Bodin pulled one back.
Rotherham looked set to kick on and take three points when Grabban made it 3-1 but Kevin Nicholson pulled one back just before half time and Rene Howe levelled soon after the restart.
Scott said the decision to substitute his skipper Cresswell in the second half was tactical.
"I just felt the game was getting away from us a little bit and we were dropping too deep," he said. "We needed a bit more pace on the pitch to combat them."
The Millers host Southend United on Saturday.