Montenegro hold a two-point lead over Roy Hodgson's side at the top of Group H ahead of the pivotal clash in Podgorica after both countries triumphed on Friday.
Gerrard said: "We believe, if we play to our level, we are more than capable of three points and that's what we have come here for.
"We know we've got to play close to our maximum to beat this good team. We know if we play anywhere near our level, we will get the result.
"We are concentrating on what the manager wants of us, to be very good defensively and play attacking football when we get the ball.
"These are the big games you want to play in. These are the atmospheres and stages you want to perform on as a player and a team. We will get a lot of credit if we get the result."