The English champions meet the title-winners from Spain (Real Madrid), Germany (Borussia Dortmund) and Holland (Ajax Amsterdam) in Group D of Europe's premier club competition and Kompany is looking forward to the test following last season's disappointment of failing to qualify for the knockout stage.
"That is why you are in the Champions League. I thought it couldn't get much more difficult than last season but here you go. It is a great challenge," he said.
"I do think we are the kind of team that gets better as the challenges are greater. That is perfect for us. There won't be any moments where we will be surprised.
"The motivation will always be sky-high. The atmosphere will be great in each of the six games we have in the group. I couldn't think of a better way to play the Champions League."