"We saw a lot of good things from both us and Puma in this leg and I think that bodes well for us in the rest of this race."
In the final 24 hours, Camper closed to within 0.6 nautical miles of Puma as the two boats battled down the Florida coastline.
Puma's American skipper Ken Read enjoyed the finish.
"It was touch and go, the guys on Camper sailed very well, but I couldn't be more proud of our team, they did an unbelievably great job," he said.
It is the fourth podium finish in six legs for Puma and the continuation of a major fightback since the team's retirement from leg one with a broken mast.
Camper had a shortened stopover in Brazil due to their problems in the last leg when they had to stop in Chile for repairs.
Now they are looking forward to relaxing in Miami ahead of the next leg to Lisbon, Portugal.
Before departing on leg seven they will contest an in-port race in Miami and another positive for Camper is their improvement in this shorter format. They made up for their disappointment in failing to make the top three into Auckland by winning the Waitemata Harbour race and came second to Groupama in the in-port Itajai race.
"This race is becoming so tight that every point is going to count. After this leg any one of the top four boats could be in the running to win," Nicholson said.
"It's very close and as we head to Europe I think there's every chance that it could come down to the wire in Galway and that suits us."
apnz pm cr