Defoe insists that belief stretches to making the top four again.
"We all believe we can finish fourth again," he told the Spurs website.
"The nights here (in the Champions League) were so special and I think it's been a long time coming for the club and everyone deserves it.
"We've got good enough players to compete at that level and we showed it this season. For me, on a personal note, I missed a lot of the games through injury and I'm desperate to play in the Champions League again because it's the best competition on a club level."