But despite critics accusing Wales of going backwards over the last 12 months, Halfpenny maintains they have made progress under Gatland.
He said: "Wales are going in the right direction and we're moving towards being up there with the top three teams in the world.
"We were very disappointed with our performance against Australia in the last game. We felt as though we pushed New Zealand all the way and we were disappointed that we didn't nail that game.
"The fact we felt we could have got a victory and to be saying that means we are moving in the right direction.
"After the Australia game Warren and Shaun Edwards told us that they never want to feel the same disappointment again.
"It's really exciting at the moment and I'm really looking forward to the Six Nations coming up. We will be going all out to regain that title from Ireland."
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