The veteran goalkeeper, along with attacking star Gareth Bale, is fully convinced the reigning European champions can win an historic 11th continental crown this season
The Spanish giants claimed their 10th European title in Lisbon in May when they defeated city rivals Atletico Madrid 4-1 after extra-time.
Having endured a 12-year gap to their previous continental triumph in 2002, Casillas is now determined to become the first side to successfully defend the Champions League trophy and says the current squad are fully capable of celebrating the Undecima - 11th title - next Spring.
"We experienced it with the strength we have always had. We came very close to one or two more finals, but in the end we won our tenth European title last season," he said at the unveiling of Madrid's new Champions League kit.
"It's difficult to defend the title, but we have more desire and determination than last year. We have a very good squad and a spectacular team, which is also more experienced and more mature. I hope we can win the Undecima."
Gareth Bale admits he fulfilled a dream by scoring in the final this year and feels the team can thrive under the pressure of expectation.
"Winning the club's 10th title was fantastic for everyone. Scoring a goal in the European Cup final is one of my biggest dreams and it was a good season for the team. I felt fulfilled," said the Wales star.
"We have to look to the future and try to win it again. We want to make history by winning the Champions League again. We know there is always a lot of pressure on us, but we like it and we want to win more titles this year."
Xabi Alonso, meanwhile, has warned that winning back-to-back Champions Leagues has eluded some of the best sides in the modern era in the past and will therefore prove a tough task.
"For years we fought for our 10th title. Now the aim is to defend our title, and if nobody has managed to do so, there's a reason. We're going for it," he added.