Liverpool are gunning for their first ever Premier League title and currently sit top of the table by two points.
Manchester City till have a game in hand to play and a win would put them back at the summit.
But just six games to go, the chances that either side slip up are gradually decreasing.
Both teams have big games agains top six opposition to come, including Liverpool’s clash with Chelsea on Sunday.
Azpilicueta, whose Blues side haven’t been in the best form this season, is hoping Chelsea can dent Liverpool’s title hopes like they did five years ago.
“We enjoyed that day and hopefully we can replicate it on Sunday,” he told Sky Sports.
“It’s not about frustrating Liverpool, it’s about playing our game.”
Back in the 2013/14 season, Liverpool came their closest to winning a first English league title in 24 years but suffered a dramatic collapse with three games to play.
A 2-0 defeat at home to a second-string Chelsea side, which featured captain Steven Gerrard’s infamous slip, put City back in control of the title race.
Azpilicueta understands that Liverpool are going for glory once again, but notes it won’t be easy for them.
“We know they are fighting for the title but for us every point is very important for the top four. It’s an important game,” he added.
“We know we’re going to play a very strong side, but first of all we need to keep the solidity that we’ve shown in the last games, and defend very well as a team because they are a big threat.
“And if we take our chances, I think we’ve proved ourselves already this season when we won (2-1) in the League Cup.
“I think it’s a big game, and everyone’s looking forward to it.”
The last time the two sides played in the league, they drew 1-1 thanks to a late Daniel Sturridge goal at Stamford Bridge.
In the Carabao Cup, however, Chelsea came out on top in the third round – with Eden Hazard’s solo effort enough to progress.