The two teams, who have 15 European Cup triumphs between them, meet at Anfield and at the Bernabeu in two weeks' time. Defeat in either game will leave Liverpool struggling to qualify for the knockout stage in their first season in the competition since 2009.
And Gerrard has warned it could become "embarrassing" if Liverpool show the current European champions too much respect.
"Everyone who is picked to play -- from the 11 in the starting lineup to the subs -- everyone has to be on their game," he told his prematch news conference. "We are playing against the best side in Europe and if we
have two or three passengers we could get beat convincingly.
"It can become embarrassing against sides like this who are deadly away from home on the counter-attack. We need to be right on it and that applies to me personally as well."
Carlo Ancelotti's European champions arrive on Merseyside on a run of seven straight victories -- a period in which they have notched 32 goals. Liverpool, meanwhile, have struggled in recent weeks, with their defensive frailties exposed during their 3-2 win over bottom-of-the-table QPR on Sunday.
But Gerrard is putting form to one side, saying: "Most places Real Madrid go with the current players and the form they are in, they are expected to win.
"I understand those opinions. But football is football, shocks are there, upsets happen.
"Yes, we understand we are the underdogs but with the atmosphere we have [at Anfield] and the players raising their game for a game like this I think it is possible to cause an upset.
"When big questions get asked of this team, especially last year when big hitters come to town, we raised our games. The fans raised theirs, we raised ours and I think we put in some really good performances. I think a performance is due now.
"The performance at QPR wasn't good enough, everyone knows that, but I think everyone will respect that when Real Madrid come into town it is a different game to get yourself up for."
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