The defender is desperate to progress past the World Cup hosts but insists that Colombia will approach the game with the same humility that has seen them reach the last eight
Jose Pekerman's men have impressed this summer, winning all four of their games with relative ease to reach the last eight and book a tie with the host nation.
Zuniga, 28, understands that reaching the semi-final stage to face either France or Germany will be incredibly tough, but hopes that Colombia's humble yet hard-working approach will reap its rewards in Fortaleza as they look to upset the hosts.
"Well, we know it's going to be complicated," he told reporters. "Not only do they have pressure on them, but this kind of match is something we've always dreamed of.
"It will be complicated against a huge opponents against Brazil - particularly as they are the home team - but we'll do things as best as possible.
"We're good physically, I think. My injury has gone, I'm okay. The group is very well, physically speaking. We've shown that before and if we go to extra-time we'll be ready for that.
"Each match for us is a final. This match will be complicated because they have quality players and like us try to make the difference.
"Irrespective of who is playing, we always want to have fun on the pitch. The idea is to play another final against Brazil with humility."
Colombia have never reached the last four of the World Cup but will be buoyed by Brazil's under-par performance as they edged past Chile on penalties after extra-time following a 1-1 draw.