Los Blancos were beaten 2-1 at home by Pep Guardiola's side in the opening clash of the teams' last-16 tie in late February and the second leg, for which captain Sergio Ramos is suspended, has been postponed due to coronavirus.
"We have the will, the desire and the joy of getting back for that match and fighting for revenge to be able to qualify [for the quarter-finals]," Valverde told Real Madrid TV.
"The desire to fight for everything can never be lacking at this club."
Valverde played a pivotal part as Madrid claimed the Spanish Supercopa in January after his professional foul on Atletico Madrid striker Alvaro Morata, which helped avoid what looked like a certain goal and forced a penalty shootout, which Zinedine Zidane's side won.
And while their chances appear slim in the Champions League, Real are just two points behind Barcelona with 11 rounds remaining in LaLiga, which is set to resume next month.
"We have to train hard and help each other, so we are all ready when the matches return," Valverde said.