The Catalan giants welcome the Rossoneri to Camp Nou next Tuesday, and despite trailing 2-0 on aggregate, the two-time European champion and World Cup winner believes Barcelona boast enough quality to turn the tie around.
"I would put my hand in the fire for the team, I am confident that we can do it. It was not a good result, but I am 100 percent convinced that we can turn it around," Iniesta told reporters at a corporate event. "We have to do well and go out as though it's a final. For us it's a final where we need to get a good result to come out alive."
The 28-year-old also responded to the criticism the team has faced in recent weeks following the Milan defeat in addition to two Clasicos, but he believes the team can draw on the comments of their detractors to inspire the club to stronger performances for the remainder of the season.
"We deserve more respect. What's more, in La Liga, we are in an unbeatable position. I wish it was always this way," Iniesta added. "We are concerned, because we haven't been good, but the concern should make us stronger and more optimistic to keep doing well."