The Blues are within touching distance of securing Champions League football for another season.
Azpilicueta wants his teammates to continue putting in their best performances to get as many points as possible in the remaining games.
He told reporters after a 2-1 win over Aston Villa at the weekend: "We have to be in the top four after the 38 games.
"That's when we have to be in the top four.
"Maybe people didn't expect us to be where we are but if we are there it is because we deserve to be there. Also, we have missed a lot of chances to be even higher.
"We lost a very important player, of course, but we had a challenge, we started in pre-season and we've worked hard. We're in a good position.
"Now it's time to finish the job. It's in our hands. It's up to us to take it and finish where we want to finish."