The former Rojiblancos player is wary of the challenge posed by Jose Mourinho's men, but believes the Liga leaders can emulate their 2012 Super Cup win over the English side
The two sides last collided in the 2012 Super Cup, with the Rojiblancos winning 4-1 courtesy of a Radamel Falcao hat-trick.
Villaverde sees no reason why Diego Simeone's side should be concerned by the prospect of going head to head with Jose Mourinho's men, saying if they've beaten the Blues before they can do it again.
“We know that it will be hard, but we have beaten Chelsea before,” the Atleti director told Canal Plus.
"We have hope to pass to the final. We have to work like the other matches and we have to give our supporters the possibility to be in another final.
"We are in the semi-finals and we are so happy. We actually know the hard job that we did to be here, so we have to enjoy it now".
The first leg of the semi-final will be played at the Vicente Calderon on April 22, before Diego Simeone’s team travel to Stamford Bridge for the second leg on April 30.