No club has been able to hold on to the European title since the introduction of the Champions League in its current format in 1992.
And after further enhancing their status as Europe's most successful club by winning a 10th European crown last term, Casillas feels Madrid have the quality to go one further and break the mould.
"Real Madrid are the only team that can do it because we won last year. We know that it will be very difficult but we will fight to achieve it. We are ambitious, with a mixture of youth and experience, so why not," Casillas told Uefa's official website.
"Last year we played against teams that had caused us a lot of problems in previous tournaments and we were able to play good football and get to the final.
"We will give everything to get to Berlin. We have the team to do it and I hope that we can repeat the success of last year. We have desire and a strong team full of experience, from last year and previous years.
"We also have the experience of three semi-finals where we were very close but did not reach the final. Now we have greater maturity and things have gone better.
"If we play well at the Bernabeu and make it our fortress and away from home if we play like we did last year, then we have the chance to go far."
Real Madrid have one foot in the quarter-finals of the Champions League after beating Schalke 2-0 at the Veltins Arena in the first leg of their round-of-16 tie. The return is scheduled to take place at the Bernabeu on Tuesday.