The Bavarians had an off-colour day in Spain last week, losing 1-0 to Unai Emery's side in the quarterfinal first leg.
The final result did not do justice to Villarreal's overall dominance, who missed several chances and had a goal ruled out by VAR.
Bayern Munich escaped with a 1-1 draw at RB Salzburg in the round of 16 first leg but smashed the Austrian side 7-1 in the return encounter and Nagelsmann is expecting a repeat of that performance against the Europa League holders at the Allianz Arena tomorrow.
"We played a bad game and they played their best game," Nagelsmann told a news conference.
"This will not happen again, to play badly against the same opponent twice.
"We delivered in the past and it should be like that. We have to, we must, we want to. It is normal when you win so many titles and have such success for so many years that you maybe need this pressure sometimes to get the maximum out.
"Maybe it will be a sparkling game from our side. We must turn up our complete intensity level. We did not take the last steps, the last metres in the first leg. We have to play more uncomfortable football."
"We made many mistakes. They made one to keep us alive. They could have scored more goals but we are still alive and we should show it on the pitch."
