The Blues have lost just once at the half-way stage of the league campaign and beat us 3-0 at Stamford Bridge almost a month ago.
That was our only defeat in the last seven and we're unbeaten since that meeting on December 3 - that run stretched to five matches with a 0-0 draw against in-form Manchester United on Sunday.
"We need to believe and try to play our game," said Mauricio. "We need to show the same performance that we showed against United. We need to keep this feeling.
"We are in a process where we're starting to believe more. This is important. United was a good example of that belief and we need to follow in the same way."
We started well at the Bridge and struck the woodwork before a quickfire two goals in the first half left us with a mountain to climb.
"Every game is different," added Mauricio. "We need to believe. Okay, it’s a tough game against Chelsea, top of the table, but why not?"