Rooney, who netted his 32nd England goal in Warsaw, is convinced the quality in Roy Hodgson's side will eventually shine through.
He said: "We knew it was a tough group but we're confident. We believe in ourselves. We believe we are the best team in the group so we are confident of qualifying.
"If we can keep picking up points away from home and win the rest of our home games we will have a great chance of going to Brazil in two years' time."