The England captain has been involved in years of international disappointment with the national side, but he believes that they have a chance of success in Brazil if they work hard in the next two years.
Gerrard said: "When I speak I'm realistic and honest. At the moment, we're not one of the favourites to win the World Cup.
"That doesn't mean you stop believing, working hard to improve and to try to learn from the mistakes you've made at previous tournaments.
"This team has every chance to improve and get better in the next few years, with players coming through and those players with experience. We have to have that faith and keep believing."
England begin their World Cup qualifying campaign in Moldova on Friday evening.