Mourinho's men were humbled by the German giant at Signal Iduna Park on Wednesday, prompting many to believe the Blancos' chances of securing a 10th European cup (La Decima) had sustained irreversible damage.
However, Carvalho says his teammates are more than capable of netting the three goals necessary to keep alive their hopes of making May's Wembley final.
"We have to play at the level that we can and we know that we can score goals because we have top quality players, and we’ll also have to defend well," the defender told the club's official website. "It will be difficult because they have very good players and can score goals, but we can score three goals.
"We know how important it is for us and the club and we will give everything on the pitch on Tuesday. On Tuesday we have to play with more intensity. We did not play well, we did not play as a team and we were not at the level we can play at, but on Tuesday we have to try to win."
The 34-year-old played 90 minutes in the 2-1 victory over local rival Atletico Madrid on Saturday, and the former Chelsea defender has acknowledged the importance of going into Tuesday's semifinal on the back of a win.
"We played very well. Winning is always very important after a match that you have lost, and this was a derby," added Carvalho. "This win is very important for the team and we want to show the same attitude against Borussia to try to get to the final. It is good motivation."