Kompany is calling on the passion from their title victory two seasons ago to overcome their 2-0 Champions League deficit.
"Football is made out of nights like this," said Kompany. "Emotionally it's a tough ask but you won't beat how we beat QPR and if anything gives you belief in chasing late causes then it should be that.
"Our team are stronger now than we were then. We are here to try to have one of those great nights. I still think we will have to score three goals across the period in 90 or 120 minutes. We can think we have nothing to lose and think forward. If we get a lead, the dynamics will change. To say we can't take the lead - no-one will put any money on that.
"It's in our own hands. We are coming out on the pitch tomorrow and if we lose they are better than us and if win we are better than them.
"But we have got to believe. Not only just to help ourselves but because we have 5,000 fans coming here. It's our job to believe in that."