The defender insists his side believes "100 percent" it can recover from a 4-0 first-leg deficit to the Bavarians and has urged the club to give Camp Nou something to cheer.
A 4-0 thrashing at the Allianz Arena last week leaves the Blaugrana with a mountain to climb if they are to reach the Champions League final this season, but Pique - who played in the side which beat the Bavarians 4-0 at Camp Nou in 2009 - says his teammates are fully confident in their chances.
"The team is fine, and very confident that we will do all we can to stay alive for the whole match," he told a press conference on Tuesday. "We need to not concede goals, score at least one early on and fight until the end. We represent a club that does not consider giving up, a club that has won a lot and has a long history. We represent Barcelona and we will want to give a good image.
"I remember when I was seven and we lost 4-0 against AC Milan [in the final] and I remember how my father was when we lost. Tomorrow we can be childlike in the sense that we can believe and we can dream, but it is going to be very hard."
The defender went on to point out that his club had tasted a big victory over Bayern before, but knows that the job this time around will be much more difficult.
"We won 4-0 in 2009 but they are a different team, a lot better team, with a different coach and different players," he said. "It is very different. They are much better than that team.
"We have to open up the pitch, have the ball and play fast football. In recent years we have proved we can beat anyone in any situation. We need the fans to back us and try to feel we are not knocked out of the Champions League yet. We have to try to find all the right circumstances to win the match. If everything goes in our favor, we can do it."
Still, knowing how difficult the tasks is, Pique says he doesn't doubt that his team is ready to take it on.
"We believe we will turn this around 100 percent," he claimed. "We need to score a goal as soon as possible to get more and more confident. After a 4-0 result you do doubt yourself, but as days go on, you suddenly believe you can do this. Football is very psychological.
"Tomorrow we have 90 minutes to hit Bayern psychologically with the help of the fans. They could also score a goal and then to score six goals is a lot tougher. But we believe."