"When you grew up sailing in the harbour and watched Team NZ competing for that trophy and to be able to bring that back here as part of an amazing team is really special."
Burling said he had felt his hometown's support when Team NZ crossed the finish line 55 seconds ahead of Oracle Team USA to win the 35th America's Cup in Bermuda in June.
"A lot of Kiwis managed to travel, but it definitely sunk in a little bit more when we finally managed to get back home," he said.
Burling and the team, including hydraulics engineer Vito Vattuone, boat builder Ricky Bray, structural engineer Andy Kensington and board of directors member Greg Horton, participated in a question-and-answer session in front of the crowd.
The team then waited patiently after the event for a large line of fans to take photos and selfies with them and the America's Cup.
Tauranga mayor Greg Brownless said he was proud to welcome the team and the America's Cup to the city.
"Sometimes people think there is an element of luck in achieving success, that may be true at some levels, but when you are competing at the top I think luck loses its lustre very rapidly and it all comes down to skill.
"To acquire that skill we have to put in hours and hours of work and practice and Team NZ have done just that.
"They are role models for anyone looking for success."
Tauranga Yacht and Power Boat Club commodore Nick Wrinch said Burling spent a lot of his youth either on or in the water before he joined the yacht club at age 8.
"That was a pretty fast progression because Peter was obviously a quick learner and by the age of 9 he was sailing his first national championship.
"At age 11 he came second in the under-16 age group of the Optimist nationals and by the age of 12 he had won it.
"By the age of 15 he was a world champion."
Tauranga Boys' College principal Robert Mangan said some of the school's Year 12 students performed a haka at the team's arrival to honour the crew, which included three former pupils - Burling, Andy Kensington and Greg Horton.
"I feel very proud as principal of the college," he said. "There are three old boys as part of the America's Cup team. They are all outstanding role models."
Burling's parents Heather and Richard had watched their son race from Bermuda, but Mrs Burling said to be back home among fans was something quite special.
"It is amazing to see so many people turn up, it is really brilliant to see their support.
"I feel it at work," she said. "From my elderly patients who can barely speak to the little kids who are still supporting, it is amazing."