The combustible Kyrgios came back from two sets to one down to defeat 33-year-old Steve Darcis 6-3, 3-6, 6-7 (5/7), 6-1, 6-2 in 3hr 36min on the clay courts of Brussels' Palais 12 arena.
Kyrgios fired 34 aces and 41 winners to take his Davis Cup singles record to seven wins in eight, as Australia finished the day at 1-1 after world number 12 David Goffin had beaten 185-ranked John Millman 6-7 (4/7), 6-4, 6-3, 7-5.
Writing on www.Playersvoice.Com, the 22-year-old said: "I am not the professional tennis needs me to be".
"I'm not making the improvements I should because I don't want it enough, I'm not taking it seriously enough.
"There is a constant tug-of-war between the competitor within me wanting to win, win, win and the human in me wanting to live a normal life with my family away from the public glare."
"(Captain) Lleyton Hewitt and I have put so much dedication into this, the Davis Cup has been my No.1 priority this year. I think we must be favourites going into the doubles' tomorrow," Kyrgios told daviscup.Com.
Jordan Thompson and John Peers will play the doubles against Arthur De Greef and Ruben Bemelmans with the reverse singles to be played on Sunday.
In Lille, Dusan Lajovic made a mockery of the absence of Novak Djokovic to give Serbia a shock lead over France in their semi-final.
"This is what the Davis Cup is all about," said Serbia captain Nenad Zimonjic, who is without his three leading singles players -- Djokovic, who is sidelined until 2018 with a wrist injury, Janko Tipsarevic and Viktor Troicki.
However, France, the nine-time champions, levelled the tie at 1-1 when Jo-Wilfried Tsonga downed Davis Cup debutant and world number 95 Laslo Djere, 7-6 (7/2), 6-3, 6-3.
France captain Yannick Noah was critical of his own performance.
In the play-offs, where the winners will compete in the World Group next season, 2016 champions Argentina are 1-1 against Kazakhstan after US Open quarter-finalist Diego Schwartzman eased past Dimtri Popko 6-4, 6-2, 6-2.
Mikhail Kukushkin had given the hosts the lead by seeing off Guido Pella 6-7 (5/7), 7-6 (7/5), 6-2, 6-4.
Boris Becker's first day as head of men's tennis with Germany ended with his country -- missing brothers Alexander and Mischa Zverev -- level at 1-1 in Portugal.
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