The 26-year-old has become an integral part of the Blues' first team since joining the club four years ago, making 37 appearances in all competitions this season.
And when asked about a potential return to Marseille, the club he left to join Chelsea in 2012, Azpilicueta ruled out a move away from west London any time soon, stating he is very happy with the reigning champions.
"I plan on staying another few years at Chelsea," he told French radio station RMC. "I'm very happy there. I'm not thinking about leaving the club. I'm only thinking of [playing for] the Blues.
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"Marseille made a big impact on me and gave me the chance to discover Europe. I felt very good over there.
"But if I have to leave it would be for a club where I could develop even more than at Chelsea."
Azpilicueta, who is widely regarded as one of the Premier League's finest out-and-out defenders, has regularly featured at left-back during his time at Chelsea.
However due to club captain John Terry picking up an injury, Branislav Ivanovic has shifted infield to fill in at centre-back, allowing Azpilicueta the chance to shine in his favoured right-back role in recent weeks.