The 55-year-old stated that the European Championship campaign provided "important experience", and admitted that while there are worries, his side perform best under pressure
The Azzurri won many plaudits for their performances at Euro 2012 before they were comprehensively defeated by Spain in the final, and Prandelli hopes that his players have learned from that experience as they embark on the road to Brazil.
"The key word is qualification. Then we have to worry about quality of play. The Euros gave us important experience," he told reporters at a press conference.
"There's a little bit of worry because everyone expects a win. However, we give our best when we are a little afraid."
The Italians travel to Sofia to face Bulgaria on Friday night, and the former Fiorentina coach believes that Kuban Krasnodar forward Ivelin Popov is a player that could do his side some damage.
"We'll find a tough atmosphere tomorrow [Friday], we are one of the teams to beat. I'm afraid of their striker Popov."
Prandelli had earlier hinted that the Azzurri would field a 3-5-2 formation with Pablo Osvaldo and Sebastian Giovinco leading the line, and the coach once again stated that both men are ready to be called upon.
"They [Osvaldo and Giovinco] are in excellent physical condition, more so than the others, who are also in good condition.
"The only question is De Rossi, but the situation is more yes than no."
Following the trip to Sofia, Italy will host Malta in Modena on Tuesday.