Following their 1-0 loss to world number one Brazil with an undermanned team, Terry is confident their showing in the match in Qatar holds them in good stead for the tournament proper in South Africa in June.
"I think Brazil have got individual quality, in one-versus-ones situations, that can frighten any team," Terry said.
"That is why they are ranked the best side in the world at the moment.
"We are giving them a lot of credit for the win over us but the game had a friendly written all over it from the start.
"Even in training on Thursday and Friday the manager was stressing he wanted us to press more and the players were saying at half-time 'we'd love to but it is difficult' and the conditions were a little bit tiring.
"The players were saying afterwards it was difficult to keep that intense pressure on and I think in different conditions it might be different.
"But I don't think Brazil are anything to really worry about. They are a very good side, I am not saying they are not.
"We have to look at our own strengths and qualities and I think we can mix it with the best sides in the world."