Iniesta's late goal earned the Catalans a 1-1 draw to send them through on away goals against in 2009 at the same stage against Chelsea and is hoping for the same result when the two sides meet again on Wednesday.
"It's painful to be knocked out so close to the final. Now we are facing each other again and undoubtedly their desire to beat us and be in the Champions League final will be significant. We hope that things will turn out well for us again this time," said the World Cup winner.
"We are going there with the intention of winning, to have a good game and commit as few mistakes as possible, as in the Champions League they are very costly. We always go out to win. We know that it is a knock-out tie and there is a return game, but our only intention is to win.
"It will be a tough 90 minutes. Chelsea are more experienced now, inevitably, and they have also changed some players. They have Fernando [Torres], [Juan] Mata and some other young players. Chelsea were very strong that year and the will be this year as well."
The two sides meet in the Champions League semi-final on Wednesday at Stamford Bridge.