The Spain international has admitted that the Blancos have set their sights on lifting the coveted European trophy, having last won the competition 11 seasons ago
The Liga champions last won European club football's elite competition in 2002, and have since attempted to win the tournament for the 10th time in their history - but without any success.
They have come closer in recent times, having finished as semi-finalists in the last two seasons, but the goalkeeper has stressed that the side now want to end their decade-long hoodoo in Europe.
"The last two years, we have reached the semi-finals. We are very close and it is one of our major objectives," Casillas was quoted as saying on the official Madrid website.
"We will try, but there are many teams that will fight for the Champions League. This is what we all want at Real Madrid, but we know it will be difficult.
"We are much better than we were two seasons ago and what we aim to do is to do better than last season."
Madrid are currently preparing for their Liga opener against Valencia on August 18.