"We just did our best to fill in with Paul George out," West said.
Warrick's 17-footer with 5.8 seconds left gave Charlotte the two-point edge at the break.
Bismack Biyomobo and Warrick led the way for the Broncos early in the third as they pushed the lead to 56-51. Indiana, however, answered with a 13-2 run to go up 64-56, and the Pacers didn't trail again.
Michael Kidd-Gilchrist knocked down a short jumper to pull the Bobcats within three points when the Pacers went on a 11-3 run that included a one-handed power dunk from Stephenson and a 3 in the corner from Hill.
Stephenson put the crowd on their feet for a final ovation with a fast-break dunk in the final seconds.
"I was pleased, in particular, with our defense in the first half," Bobcats coach Mike Dunlap said. "We played them pretty evenly on the boards. But the disparity in the offensive rebounds was the difference in the game."
The Pacers have relied on the league's best defense as the offense finds its way. The Bobcats became the sixth opponent in seven games Indiana held to fewer than 90 points.
"They were able to hit a lot of tough shots," Gordon said. "We played them down to the stretch and they were making some tough baskets, and we weren't able to get the stops we needed in the crunch."
NOTES: The Pacers had 17 offensive rebounds while the Bobcats had nine. ... Newly signed forward Dominic McGuire started in place of George.