Group H rivals Montenegro are favourites to take top spot after the next set of games when they face San Marino, who are yet to win, in November, while England are not back in qualifying action until March.
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"In previous qualifiers, we have strolled through and not looked as effective when we've got there," he told The Sun.
"Maybe if we struggle to get there, but we do get to Brazil, hopefully it will be an easier campaign.
"We knew it was going to be tough against Poland. It is not an easy place to come to but we dug in to get a point."
Lescott is also determined to forge a defensive partnership with former Everton team-mate Phil Jagielka, following John Terry's international retirement.
"If the manager believes me and Jagielka can make the positions ours, then great and hopefully we can do that," he added.
"We grew up together and there is a trust."