The Spain international has already made 27 appearances this season, mainly at left-back, and he acknowledged the importance of the last two years in relation to his personal development.
"Chelsea is one of the biggest clubs and there is always going to be competition for places," he told chelseafc.com.
"Last year I was competing with Ashley Cole, who was a top English defender with over 100 caps for the national team, so it was a big challenge for me and I learnt a lot.
"This season, with Filipe Luis, it's the same. He's a top full-back and a Brazilian international. I like the competition because it brings you to another level, and it's down to each player to impress the manager and make it difficult for him."
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