Joaquin said that Malaga must compete as they have throughout the tournament and give Dortmund the "respect" they deserve.
"Dortmund are a team used to playing these type of games," UEFA.com quotes Joaquin as saying. "However, we will have a chance of getting through if we compete as we have been doing until now.
"We must give Dortmund our maximum respect. They are a strong team who play good football - we will give 200% in order to qualify. We want the tie to come as quickly as possible."
Malaga edged out Porto in the round of 16, beating them 2-0 in the home leg.