"We had a shaky start to our qualifying group and got some bad results but, given the form we are in at the moment, I believe we can go through now we've got another chance.
"I said before the Israel-Russia game that I believed we would still make it, that something would happen to put things back in our own hands - and it's happened."
Cole also revealed his support for Steve McClaren who looks certain to retain his post if England obtain a positive result against Croatia.
He said: "I am just right behind the manager. I think he is the best manager in England, the best English manager, and we are all right behind him."