England arrived in Canada in search of a new identity and departed with that wish fulfilled. The pride of Lionesses that left London as near-anonymous figures in late May will attract plenty of second glances as they make their way back through passport control at Heathrow on Monday morning.

After persuading a nation finally to fall in love with women’s football and, they hope, inspiring an entire new generation of young female players, Mark Sampson’s squad are suddenly household names. England’s coach described his team’s 1-0 defeat of Germany – a side the Lionesses had never beaten in 31 years of internationals – as “awesome” and “amazing”.

A harsh semi-final defeat by Japan meant they did not make the final but, by collecting the bronze medal in the third-place play-off, England did better than any national side of either gender at a World Cup since 1966.

“I really hope that in 50 or 60 years’ time this team is still talked about,” said Sampson, whose bold decision to experiment with a back three for the first time seemed to confound Silvia Neid, Germany’s coach.

“So many people at home have been pushing against the wind for so long, working so hard to put our game on the map,” he continued. “So I hope this team’s performance here will serve as a catalyst to change everything, to inspire a new generation of female players. Hopefully girls will be going out and buying pairs of football boots now.

“I hope their mums and dads say: ‘Yes, you can play football.’ These girls have a challenge to convince their parents to let them become footballers. There’s still not that much money in the women’s game but let’s hope people pick up the baton now and charge away with it. Let’s pack Wembley for Chelsea v Notts County in the women’s FA Cup final next month.”

The national team returned on a high thanks to Fara Williams’ extra-time penalty and England’s key midfielder could not have been more delighted. “We’ve shown we’re no joke team,” she said. “All the sacrifices we’ve all made have been worthwhile. Now we really want to push on.

“For the last 18 months, since Mark and his staff came in, we’ve had this belief, drive and togetherness. We can go anywhere we want to now. We believe we’re the best team in Europe. Now we just need to take our game forward. I believe we can get gold and win a tournament. It was only a freakish own-goal that stopped us reaching the final so we were never going to let Germany beat us.”

Alongside Williams, Laura Bassett, scorer of that stoppage-time own-goal against Japan, was smiling again. “The German girls are in tears,” she said. “In the past that was always us but the roles have been reversed. Times are changing in women’s football and they’re exciting for this England team. Why can’t we win gold in the future? Why can’t we win a tournament? We can beat anyone on our day.”

For the moment bronze will do. “After the sacrifices, the disappointments and setbacks we’ve had over the years, to look around and see everyone smiling now is lovely,” she said. “This medal really means everything.”

When Bassett’s name was read out as the teams were announced before kick-off a spontaneous, sympathetic cheer rang round Edmonton’s Commonwealth Stadium. “I didn’t mean to score an own-goal and it was a horrible experience,” said the central defender, who shone against Germany. “But talking about it has helped me realise you can’t change the past, you can only affect the future. I had a hard couple of days but I’ve had so many messages of support that I just want to thank everyone who took time to reach out. I really do appreciate it.”

It was early on Saturday evening and the time for the Lionesses to let their hair down had arrived. “I’m sure some of my players and staff will party right through the night,” said Sampson. “Unfortunately we’ve got a 7.30am flight back home tomorrow morning. I think it might be a quiet plane.”

Ever since the 32-year-old Welshman’s appointment questions have been raised about his suitability for the role. There were legitimate concerns about the Football Association’s failure to recruit a woman as Hope Powell’s successor but Sampson has proved himself to be the best person for the job.

For all their manifold strengths England have weaknesses in areas such as ball retention and creative incision but Sampson has camouflaged them with an array of astute, thoroughly rehearsed, formations and game plans.

His belief in near-constant squad rotation has not only worked but kept almost everyone in the 23-woman squad happy. There can be no doubt that Williams and company have bought into Sampson’s methodology and man management to the point where they appear willing to leap through metaphorical hoops of flame for him.

“You’re only as good as your players,” he said, sensibly shying away from comparisons to Sir Alf Ramsey. “There’s absolutely no reason why this side can’t win the next World Cup. And the way they’ve represented themselves in Canada has been an example to any sports team. I hope that, when we get home, they get the welcome they deserve.”