"We feel it's our chance and we want to take advantage of it. We feel it's our turn and we want to continue to make history," said Torres, who scored the winning goal in Spain's UEFA EURO 2008 victory over Germany.
"The team is fundamentally the same (as in 2008)," he said.
Liverpool striker Torres, who underwent knee surgery in April, said that he remained "cautious but optimistic" about his fitness for the tournament which gets underway on 11 June.
Spain qualified for the FIFA World Cup by winning all of their 10 qualifying matches and are in Group H with Switzerland, Honduras and Chile.
If they get past the first round they will meet one of the two top teams from Group G - Brazil, Portugal, Ivory Coast and North Korea.