The Potters have spent four seasons in the top flight since winning promotion from the Championship in 2008 but have yet to finish in the top half of the table.
Etherington believes that the current squad is good enough to record the club's highest ever Premier League finish.
"We have always gone down to the last couple of games in 10th spot or just outside the top 10, but never finished there," he told the club's official website.
"I remember the last game a couple of seasons ago against Wigan when a win, which we should have got, would have meant a top-half finish.
"That's how close we have been without doing it yet. I think we deserve it because of our consistency over the years."
Etherington has made 26 appearances for Stoke this season.