The Italian giants won the first leg of the Champions League tie 2-1 at the San Siro.
Cambiasso scored Inter Milan second goal in the victory.
“The second goal gave us more security for the rest of the match, now we expect a battle in the second leg,” he said.
This is the third consecutive year that Inter Milan visit England in the Champions League at this stage.
Liverpool and Manchester United did both win the games with Inter Milan.
“I remember the last game that we lost against Manchester United in England and I really don’t want that to get repeated,” Cambiasso added.
“We are all going to do what is possible to be able to get to the next stage of the competition.”