The Costa Rican arrived at Los Blancos from Levante this summer and will battle the long-serving Iker Casillas for the gloves in the new campaign.
"I'm very relaxed. I'm trying to train and be available to the coaching team. I'm not worried whether I'll be in the starting XI. I'm just trying to take my opportunity and be prepared so that I'm in good shape when I have to play," he told reporters.
"I've arrived at Iker's club, he's someone who has given a lot to Real Madrid. I play in the same position, but ultimately we're all people and we try to get on well.
"I'm trying to learn from him to improve as a footballer. Everyone has welcomed me and when you arrive somewhere new you try to get to know everyone."
Navas made his debut in yesterday's 2-1 friendly defeat to Fiorentina.