The 29-year-old believes Barcelona could ill-afford to give their old rival the belief that it could successfully defend its Liga title this season.
The Catalan giant has held a commanding lead over Jose Mourinho's men for much of the season and, having clinched its crown of Spain on Saturday due to the Blancos' draw at Espanyol, the Spaniard believes the Blaugrana's consistency stemmed from a fear of letting their rivals fight their way into the title race.
"The happiness levels in the squad are huge," he told reporters after the 2-1 win over Atletico Madrid on Sunday. "It has been a very long year and we have had to remained focused from start to finish because we would have had big problems if we let Madrid challenge."
The victory over Diego Simeone's side propelled the Liga giant to 91 points with three games to play and, having wrapped up the title, Gerard Pique says his teammates now have a new goal for the remainder of the season.
"To get 100 points would be very nice," he added. "It gives us a reason to put on the shirt for the next three games."
Barcelona continues its quest for the record-breaking points total by hosting Valladolid at Camp Nou on Sunday.