Miranda says that he has the utmost respect for Jose Mourinho but can see no reason why Atletico Madrid should fear his Chelsea side.
The Rojiblancos set up their Champions League semi-final showdown with the Blues by overcoming Barcelona in the last eight, while they currently lead La Liga by four points from the Catalans, with just four rounds of the season remaining.
Atletico's remarkable campaign has shocked some pundits but Miranda is not sure why, arguing that Diego Simeone's side have long been a match for anyone and, consequently, will relish going up against Mourinho's Chelsea at the Vicente Calderon on Tuesday night.
"Some people seemed too surprised that we overcame Barcelona, as if Atletico had suddenly crept up from nowhere this season," the defender told The Guardian on the eve of the first leg. "I find that a bit odd.
"With all due respect to the great manager Mourinho is, we need to make him feel as uncomfortable as possible. I don't see why we have to be afraid of Chelsea if we didn't fear Real Madrid [when the Portuguese was in charge of Los Blancos between 2010 and 2013].
"They are a great team but so were Barcelona. They are going to have to want the place in the final more than we do."
Miranda feels that Atletico's desire will not be matched, though, explaining that the players realise that the squad that Simeone has assembled could be broken up this summer, with star striker currently being linked with, coincidentally, Chelsea.
"The group knows we could lose players for next season so there is this feeling that we have a pretty special chance in our careers that might not come again," the Brazilian confessed.
"Which is why we play every match as if our lives depended upon it. We owe that to the supporters and to Simeone."