Wales have not featured in a finals competition since 1958, but are the third-highest ranked team in their group, behind Belgium and Bosnia-Herzegovina.
Ahead of Tuesday's match against Andorra, the Real Madrid forward told Sky Sports News: "We feel we have a great team that's now been together for a while, and we're full of confidence. The fact that more teams can qualify this time around just adds to that sense of confidence.
"We're young, but we've been together now for five, six or seven years. We all feel we're at that stage where we really need to start producing. Hopefully the time is right and we can kick on and qualify for major tournaments.
"We have to be confident, otherwise there's no point in us being here. We feel we have a good team, that we're playing good football. We have the right staff around us and everything is in place now for that to happen. The main thing now is that we have to do the job on the pitch."
With the 2016 event being expanded from 16 to 24 teams, nations that finish third in their qualifying groups will go into a playoff.