The Greek forward and his Bhoys teammates take on Swedish club Helsingborgs in the first leg of the final play-off tonight and Samaras feels that after just over two years of moulding a squad, the Glasgow club is now prepared to take on Europe's best.
"It's a European game and it's always exciting to go and play these games," he told the Scottish Sun.
"What we want to do is to be ready physically and mentally to go and take our chances.
"When you have the same manager and same team-mates for so long and you know each other really well, and know what one another can do, the belief is there.
"When you play at the top level, in the Champions League, there are no easy games. But we feel ready, and that's the most important thing.
"I don't think we are in top, top form yet, it is only four or five games we have played.
"But we're in good shape and as the season goes on we will get better. It's always like that. It was like that last season and the year before.
"For now, though, I think we are in good shape.
"It's a great opportunity, for sure. We want to play in a top league, and the Champions League is one of the most important and exciting tournaments in Europe."