Chelsea meet Atletico in Bucharest for the first-leg of their Champions League round of 16 tie.
The Uruguayan has plenty of history with the Blues and most notably for his bite on Azpilicueta's old team-mate Branislav Ivanovic in 2013.
Chelsea's captain said: "The best way to defend him is to keep him as far away from the goal as possible. That's a collective job and as defenders we know that.
"We will try to defend against him collectively, control the game and to keep the attacking players as far from our goal as possible."