Erasmus netted his second international goal from the spot in his 12th appearance for Bafana on Saturday at Moses Mabhida Stadium.
The France-based striker received a recall from interim coach Owen da Gama for the contest and Tuesday's visit of Angola, having fallen out of favour with former Bafana coach Shakes Mashaba.
Erasmus, who is on loan at Lens from Ligue One outfit Rennes, previously represented the country in an AFCON qualifier against Nigeria on 19 November 2014.
Erasmus told SABC TV: "lt is always an honour to represent my country. I am very happy to be back and it was good to get the goal. Even though it was a penalty it was good for my confidence. I'm happy with the win, I thought we played good football and we can only go from strength to strength."
The ex-Orlando Pirates man added: "No matter how you score it counts for everything. I am happy I could contribute to the team. The guys that came in also did well. We played good football and showed we are a force to be reckoned with in Africa and the world."