The Greek side face the Danish champions on Wednesday evening in the Champions League.
“If we are to have a chance of getting through to the next round, we have to win tomorrow’s match,” said the Panathinaikos coach, according to Uefa.com.
“Barcelona are in a class of their own and the remaining three teams in the group will battle for second place.
“Copenhagen have a slight advantage over us because they already have three points and we have to change that tomorrow.
“Our goal is to win and it doesn’t really matter if we concede a goal in the process. We’re the favourites because we’re playing at home.”
He added: “They’re a physical side, they’re confident, tactically sound and have a couple of high-quality players. But they do have weaknesses and have less individual quality than Panathinaikos. If we’re on our game I believe we will win.”