The Inter coach wants a convincing win against the Champions League holders when they face off in a pre-season match on Saturday, expecting a "big test" in California
The two sides have endured contrasting fortunes in recent times, with the Nerazzurri finishing last season in fifth spot in Serie A, while Madrid lifted their 10th European Cup.
But Mazzarri remains upbeat as he prepares his team for their sternest pre-season test of the summer in California, urging his players to create a "winning mentality".
"It doesn't matter if the team is suffering from pain, I want to try to embarrass the best team in Europe," he told reporters.
"The Guinness Cup will be a big test for everyone and give us something to evaluate ahead of the coming weeks. During this phase you have to evaluate the performance regardless of the result."
Inter are still without new signing Nemanja Vidic, as he continues to step up his training following his summer arrival from Manchester United.