Billy McKay and Kevin Thornton settled Saturday's shoot-out against Shrewsbury, which leaves the Cobblers to fight another day in the battle for a top-seven spot and spells the end for the visitor's hopes.
"I thought we dominated for long spells," Sampson told BBC Radio Northampton.
"(On the Play Offs) It's all to play for. We'd rather be in this position than fighting relegation which people might have thought around Christmas time. We're still in with a fighting chance.
"If we perform like that at Bradford we should be OK."