Having gone unbeaten in 10 fixtures in all competitions and winning their past six in succession, Azpilicueta claims Chelsea are in "good form" ahead of their derby at Stamford Bridge on Sunday.
Azpilicueta told The Telegraph: "It's one of those kinds of games when you usually feel a special atmosphere at the Bridge and that game [in 2016], we were having a terrible season, we were losing 2-0 at half-time.
"But, in the second half, the electricity around the stadium... I think something clicked that day that even though we were not playing for anything, just to not let Tottenham win the league. It was not only the game, it was the title race as well that they were involved in.
"Every year is different and we had a very good record against them until two or three seasons ago when we lost, but, hopefully, we can keep beating them at the Bridge.
"Since I arrived at Chelsea, I always tried to have the winning mentality of every game to finish at the top for the top trophies.
"That includes being the top team in London and we want to be at the top because that means we are the No 1s. That's what we fight for.
"We are in good form and, hopefully, we can improve on last season and now reach higher levels."