The defending European and world champions lost to the USA in the semi-finals in the last edition of the competition in South Africa in 2009.
"In football you often get the chance to win something again or win something that you'd previously lost," Iniesta told Fifa.com.
"So this year will give us the opportunity to do that and that'll be our goal when we go over there. But we won't forget we'll be up against other national teams that want to win too.
"There'll be the host nation, former world champions and on top of that it'll be in Brazil, which should provide a very special backdrop. It'll be great."
Iniesta has scored 11 goals in 77 international appearances for Spain.