Following a one-year absence from the competition, the Blues will begin their European campaign with a home game against Azerbaijani minnows Qarabag on Tuesday.
The England international said: “After missing out last season, you want to be involved. Chelsea are used to competing in the Champions League.
“We feel we’re back where we belong, among the best. Last season was a freak season.
“That medal and my Premier League medals are special. When you’re in the Premier League all your career that’s a big medal. The Champions League was phenomenal. A great feeling, one you never forget.”