Mexico has been drawn into Group A, alongside host Brazil, Croatia and Cameroon, and acknowledged the challenges, especially from the heavily-favored home side.
"Brazil is a complete team," Herrera told Goal. "Mexico has had good matches against them, but that team has showed that playing at home, as they did in the Confederations Cup, they are going to be very strong. Of course, their emblematic figure is Neymar and we will try to keep the ball most of the time to avoid allowing them to play well.
"All three games are complicated, there's no one easy. The three teams are strong, they have important players. Cameroon and Croatia both have players in Europe involved in matches and leagues that are very important. And obviously Brazil, which has won more titles and also plays at home.
"But we go to Brazil with all the intention of getting the points to pass to the next round."
Talking about Croatia, Herrera highlighted Luka Modric and Mario Mandzukic as the key players for the Vatreni, but insisted there were plenty of talented players in the European side. He also outlined the need for a more physical approach to the game.
"Obviously Croatia will be difficult, it won't be an easy game," he admitted. "Croatia has important players playing internationally, and in important leagues in Europe. Their key players are a Real Madrid player, Luca Modric, and Mandzukic, a striker for Bayern, but there are more - six or seven playing in the Premier League - and are very strong players.
"We need a lot of phyisical capacity to overcome them and keep the ball."
Mexico kicks off its World Cup campaign on June 13 against Cameroon.