City need a win to stay in touch with Premier League leaders Arsenal.
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Semenyo said: "As an outsider before joining here, it was always entertaining watching City and Liverpool. To be part of it, I’m so grateful, but it’s going to be a challenge.
"But we’re prepared for it and we'll be fired up for it on the day. I’m looking forward to the game."
Fellow January arrival Marc Guehi also said: "We’re definitely going in the right direction. It’s important we keep improving as a team.
"Winning games is massive and big in any competition, so as long as we keep going like that, I don't see why we can't achieve our goals this season."