Die Mannschaft have the chance to reach the final of the tournament tonight when they face host nation Brazil in the last four.
While praising Germany for making it through to the semi-finals, Khedira insists that the squad is eager to go all the way.
"We are into the semi-finals of a major tournament for the fifth time in a row and that's a great achievement, but that's not enough for us," he told The Guardian.
"Sensing the spirit here, I know we can do it. We are here to be world champions. We are now so close, and we really want that title. We're desperate to claim it."
Khedira has scored four goals in 50 appearances for Germany since he made his debut back in 2009.