Back-to-back promotions from League One ended that absence and, having finished 14th last season, Saints are aiming high.
"I don't think it is beyond the realm of possibility to go into Europe," Ward-Prowse said of the upcoming season.
"I think we are capable of doing that. We showed towards the end of last season that we have got the quality and desire to be there.
"We've come up the leagues quite quickly. It is not outside the realm of possibility.
"It is definitely a challenge but one we are going to relish and hopefully reach."