An 89th-minute strike by winger Sibusiso Nkosi was enough to seal a 3-2 aggregate win after a 2-1 first-leg victory in a Second preliminary round tie at the Stade Des Martyrs Stadium in Kinshasa.
Speaking after the final whistle, Maleka was delighted with his side's historic achievement in their maiden campaign.
"We knew it was going to be tough, that they would bully us," Maleka said post-match.
"In the first half they played more in our half, we allowed them to as we were slow in our build-up play.
"At half-time, we managed to rectify that and reminded ourselves of the way Marumo can play.
"That is what made us come and get a late equaliser. We were much better, we played the way we wanted, we dictated the play and owned the field by winning the duels.
"The more you achieve the tougher it gets, I said to the boys that we are proud of you and you must keep going."
Gallants next face a trip to the Cape Winelands to face Stellenbosch FC in a DStv Premiership clash on Wednesday.
Kick-off is at 15:30.