"It's always a battle. You have to impose yourself in all areas and to be the best in everything to beat Madrid," Xinhua quoted Iniesta as saying.
The 30-year-old is also aware that "Classicos" can throw up controversy and his team should be ready to expect the unexpected.
"It's hard to know what you can find in a game like this, because of the rivals and the small details, which decide how the game turns out," he said.
The match could also see Luis Suarez make his Barcelona debut as the Uruguayan has completed his four months suspension for biting Italian defender Giorgio Chiellini during the World Cup.
"Luis looks good and the moment for him to play has finally arrived. We are all happy about that and now we hope he can perform as he always has done," Iniesta said
"(But) It's not a question of one or two players. Whether we win or not in the Bernabeu depends on what we do as a team."
The game could see Lionel Messi set a new scoring record for the La Liga, beating Telmo Zarra's 49-year-old record of 251 league goals if the Argentine scores a brace.
Iniesta admitted he doesn't expect the Real Madrid fans to applaud Messi for that, but explained that, "if he does set a record, then we will have a great chance of winning."