Zarco, in his rookie season, attempted a pass on Rossi and the Italian went off the track to avoid contact, only to rejoin in front of Zarco and even closer to race leader Marc Marquez.
Race officials would hand Rossi a 0.3 second penalty – to be added at the end of the race – after he straight-lined the corner.
“For me it is not right because I have two choices…we do like this, or we touch and we crash,” the veteran told reporters after the race.
“But I hear the penalty is for gaining advantage and 0.3 is OK, but for me the problem is not Race Direction, the problem is Zarco.
“He is always very fast and rides the bike very well, he has great potential, but this is not Moto2 and if you want to overtake you have to overtake in another way. He always arrives too much in the line and for me, he has to stay more quiet.”
Meanwhile Zarco is in the midst of a superb rookie season on his Yamaha, having lead the race in Qatar and earning back-to-back fifth place finishes.
The Frenchman revealed he was never going to give up the opportunity to pass Rossi.
“It was necessary to do it like this, because there was an opportunity to pass him, and if asked myself, can I do it? Maybe I crash, so necessary just to do it,” said the 26-year-old.
“[It was] Because he was not so fast in corner two, because of the mistake in corner one, you need to anticipate a lot.
“So I said, this is the opportunity to go through at corner three. But he was able to come quite fast in corner 3, and as I say, I took the decision to do it, so I did, and it was on the limit, but it was OK.”