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The 36-year-old world number one lashed out at members of the crowd who watched him ease to a 6-4 6-4 win over Britain's Cameron Norrie on Thursday evening.
Djokovic, who claimed the GB fans were trying to distract him throughout the match, cupped his ear and blew a kiss towards a loud section of fans behind the GB bench as he won the first set.
During his on-court interview, he responded to spectators who were drumming as he tried to speak.
The 24-time grand slam winner said: "We're going to have a good sleep tonight; keep going, keep going.
"Learn how to respect players."
He could be heard telling the supporters to "shut up", "be quiet" and "go home" as they continued to jeer him.
Djokovic appeared calmer in a post-match press conference, saying: "It's normal that sometimes fans step over the line.
"In the heat of the moment sometimes you react too, and you... show that you don't allow this kind of behaviour.
"They can do whatever they want, but I'm going to respond to that.
"I was trying to talk, and they were purposely starting to play the drums so that I don't talk and they were trying to annoy me the entire match.
"So yeah. We had a little bit of a chat in the end."
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Djokovic's performance amid the noise kept his nation in the hunt for their second Davis Cup.
"It's always a great emotion to play for your country even if after a long season you are feeling it in the legs," he added.
Serbia will face Italy after Jannik Sinner inspired his team to a comeback win over the Netherlands, the world number four winning his singles and a decisive doubles.
Cameron Norrie had to defeat Djokovic for the first time in his career to keep GB in the competition, after teammate Jack Draper narrowly lost the opening singles against Serbia's Miomir Kecmanovic 7-6(2) 7-6(6).
A single break of serve was enough for Djokovic in the opening set, and the Serb saw the match out in style with a series of aces at the end of the second set.