Manchester City claimed a 1-1 draw in the first leg at the Santiago Bernabeu on Tuesday.
Vinicius Junior's fierce first half strike was cancelled out by an equally brilliant effort from Kevin De Bruyne in the second half.
Pep Guardiola's side are on a 21-game unbeaten run across all competitions and have lost just once at home all season.
Real right-back Carvajal said: “They have world-class players, they move the ball very well, they’re tactically very well worked – but I don’t think we saw a City side that are superior to Madrid.
“The team goes home knowing that we played well and that if we get things right, if we take our chances in Manchester, we have a chance of going through.
“We go there with nothing to fear. We have to go there to win, to play our game, and the team believes in it.”
Manchester City have won their last 14 games at the Etihad Stadium, where Real Madrid lost 4-3 at the same stage last season.
The winner of this tie will face either Inter Milan or AC Milan in the final.
