"The Champions League is always difficult, with top level matches," said Llorente. "We have a good team.
"This is the third consecutive time we have played in the Champions League and the 10th overall. This means that we have experience and a reputation.
"Our aim is to do well because we have to get into the knockout rounds and reach the quarters after. But Europe is Europe and it is very difficult."
However, Llorente is not underestimating the quality of Valencia's opponents in Group F.
"Obviously the favourites [to progress from the group] are Valencia and Bayern," said Llorente.
"Lille were the French champions two years ago and we must respect them, although they do not have the same team. And BATE Borisov, of course, are there for a reason."
Valencia are at Barcelona in La Liga action on Sunday.