The midfielder insists playing for a draw is not in their thinking.
"We are going there with the intention of winning, to have a good game and commit as few mistakes as possible, as in the Champions League they are very costly. We always go out to win. We know that it is a knock-out tie and there is a return game, but our only intention is to win," said Iniesta.
"It will be a tough 90 minutes. Chelsea are more experienced now, inevitably, and they have also changed some players. They have Fernando (Torres), (Juan) Mata and some other young players. Chelsea were very strong that year and the will be this year as well.
"They are very dangerous, very intense, and that will be multiplied in their stadium due to the atmosphere. We are expecting a very tough tie."