The two sides played out a goalless draw in the first leg in Madrid last week, meaning that the tie is delicately poised at Stamford Bridge.
"We are very good, very excited, we have earned the right to be here. We are very motivated. Nobody can beat us for hope and if we do well we have a chance of success," he told AS.
"We expect Chelsea to be similar [to the first leg]. They won't go crazy, but will attack a little more because they need a goal. We will look for the opposite. We'll be hard to get through.
"We have to try and give our best, play at 100% and take advantage of the spaces leave us. We are strong away from home."
Atletico are the only team still unbeaten in this season's Champions League.