Baird played with Walcott when he was coming through at Southampton.
Asked whether he would relish going toe-to-toe with his former team-mate on Saturday, Baird told PA Sport: "No, no, he is very quick.
"Theo was fantastic, even at such a young age [at Southampton].
"Obviously he was thrown in the team but the more games he played, the more confident he got, scoring a few goals. His pace always caused defenders problems. I am glad he is doing well at Arsenal. He deserves it.
"He has been fantastic for them this season so it is a hard game for us. We will go there with our confidence and see what happens.
"Arsenal are on fire right now. They had a really poor start but they have turned it round massively.