Laurent Blanc’s side go into the return leg 2-1 up after Edinson Cavani’s winner but the Blues remain very much in the tie thanks to John Obi Mikel’s away goal.
PSG knocked Chelsea out of the competition at the same stage last season and Lucas feels the Blues will be far more wary of his team this time around.
"Yes, I believe in my team. I think that we’re capable of going very far and why not win the Champions League?" he told Goal. "We have the quality to allow that to happen. Each season that goes by, I think we’re becoming stronger.
"We’ve not lost many players, one or two at the most. So we’re closer, more united, and that’s very important. We’ve reached the quarter-finals three times in succession, which brings respect and means other teams treat us differently now.
"It’s a great rivalry with Chelsea. It’s the third season in a row we’ve played them. They’re a great team but I don’t know you can say who’s the favourite. It’ll be another very hard match, very tight. But I think that they have a lot of respect for us now, more than last season because they know we’ve improved."
Despite taking a lead to Stamford Bridge, Lucas is expecting a tough evening against Guus Hiddink’s side and says it is vital that his side score in London.
"It’s sure to be one thing, and that’s very difficult. Chelsea will try the same thing that they did at the Parc des Princes," he added. "We have to profit from the spaces that Chelsea will leave, because they have to come out to win. They have to score, and so do we – it’s very important for us to score a goal.
"It’s a match that will have to be played with a good deal of intelligence. In a Champions League match between two great sides, anything can happen. Of course, these are games everyone wants to play in. But I think I deserve it because I’ve worked hard, even when I’ve come off the bench. I understand what the coach expects of me.
"The quick players have to make the most of the spaces and I love matches like that. Particularly in the Champions League. I will prepare myself really well for this match so I can be decisive.
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"His greatest strength is scoring goals. I’m someone who’s a little difference. So it’s a problem for the coach, who has to decide who will play. The important thing is that everyone’s ready to play."
Lucas also admits he is keen to stay at PSG for the long-term but admits he is yet to begin talks over a new deal, with his current contract expiring in 2019.
"There will be time for that until 2019. I’ve got a lot to do, so I’ve not thought about it yet," he explained. "My aim is to win titles and PSG is a club that I love. I’m enjoying life in France and I want to stay here for a long time. That’ll depend on how I do in the coming seasons. That club will have to think about it too, but I really want to stay here."