Well, I would say that the Brazilian league during the Pele period was the top 5 league in the world with many superstars playing in the same era. So, I don't think that his assumption of not playing in European football is the best way to describe his ability as a footballer or anything else. He always performed at a level of excellence, when he had chances to play against European opponents like Milan, Napoli, Juventus, or Inter Milan. If you want to see his performances against European teams, you can watch him on youtube against some of the best sides of all time like 1960s Benfica which had Eusebio, Coluna, Jose Augusto, and Fernando Cruz, that Benfica side was considered as the strongest team in Europe at that time and had already won against some amazing teams like Madrid which had Di Stefano and Puskas, and Juventus in 60s, which could be considered as a very strong team in that period. That Pele's Santos smashed Benfica 8-4 in two legs. Another one was in 1963 but this year, he had only 1 appearance in 3 games against Milan. This match had a lot of controversies due to the aggressiveness from both sides, especially Santos. However, he still scored two goals against a very strong Milan side in the first leg and put overall great performance.
Also, they had a lot of matches on youtube or footballia.net, in which Pele played against European teams in friendly matches against some strong teams like Inter Milan or Hamburg. In terms of appreciation from footballers around the world, I don't think I can quote in my comment because almost every football expert/coach or all-time great footballer that had a chance to play with/against him has already praised him for almost 60 years and you can easily find that in google or reliable sources.