The Reds currently trail local rivals Everton by five points but can close gap between the two sides to just two points with a victory when the pair face each other at Anfield.
And Lucas is keen for Liverpool to finish the season on a positive note after an indifferent first season under Brendan Rodgers.
|11/4||Liverpool are 11/4 with Paddy Power to finish in the top six
"Merseyside derbies are always special to play in. The atmosphere will be amazing at Anfield and it's the kind of game you really look forward to playing in.
"We will go into the derby with a lot of confidence. Hopefully we can get another win and try to finish the season on a bit of a high.
"It's been a difficult season for us but we have to keep going. We still have three games remaining and the chance to get nine more points. The manner of our victory against Newcastle United showed the character of everyone."
The Reds beat the Magpies 6-0 on Saturday and, despite the emphatic scoreline, Lucas believes there are still areas where they can improve.
He added: "We showed on Saturday that we are a team. We approached the game in the right way and played with a lot of confidence and intensity.
"After going 4-0 up in the second half, we just controlled the game. I remember when we beat Newcastle 5-1 at St James' Park a few years ago and this was even better.
"But even though we won 6-0 there are still areas that we can improve upon. We need to keep working and keep believing."