Pep Guardiola is proud of Manchester City’s Champions League triumph last season but stated it is “nothing special” compared with winning the trophy on multiple occasions, and so he has urged his team to win back-to-back titles.

City landed European football’s biggest prize for the first time with victory against Internazionale in Istanbul in May. They begin their defence with the visit of Red Star Belgrade on Tuesday and Guardiola wants his players to focus on emulating Real Madrid in being the only side to retain the European Cup during the Champions League era of the competition.

Ferran Soriano, City’s chief executive, said last week that “people are relaxed” at the club in regards to this aim. When that comment was put to Guardiola, he offered a rather different response. “He [Soriano] feels [this]? Important is that the players don’t feel relaxed. The board and chairman [Khaldoon al-Mubarak] and CEO are relaxed – that’s good. They don’t play. I’d like to say that for our club to win the Champions League is incredible.

“But in terms of the Champions League: how many teams have won it once? A lot have won two, three, four, five. In perspective, we did nothing special. Just one. [But] we didn’t have it and we’re proud.

“It’s easier, [to defend the Champions League than win it for the first time]. It’s most difficult to win the first one. It’s something incredible for us, the first time in history, but it’s just once. Let’s go. Let’s try to win tomorrow [Tuesday] against a team so aggressive, so fast up front.”

City won the treble last season before securing the Super Cup in August via victory against Sevilla. They have also begun the Premier League season in imperious fashion, winning all five of their opening fixtures.

“They [the fans] are happy, we’re happy,” Guardiola said. “Yesterday we took a picture of the team with the four trophies, but it’s over now. If I wanted to live for the memories I wouldn’t be here. I’d be at home or on a beach. We played the Super Cup against Sevilla, three days later against Newcastle [in the league]. Not an ideal situation. This is a challenge, it is what it is. Go for it.

“The competition [Champions League] gives us a new challenge so at least try. Just as [Real] Madrid or the [Arrigo] Sacchi period with Milan [1989 and 1990] they did it again in a row. I was incredibly proud at Barcelona to win two in four years [as coach, in 2009 and 2011] but we didn’t win it in a row. Let’s try by being ourselves.”

Guardiola pointed to half-time of the 3-1 win at West Ham on Saturday, when the champions found themselves 1-0 down, as evidence of his team’s desire. “I [came] to the players because they were angry. I said: ‘Why are you angry? We’re losing but you performed really well. Be more clinical up front and it would’ve been 3-1.’

“We push them but it comes from them. We have an incredible mentality in the players. I’m a little bit surprised that after all the years [of success], the treble, this shows the team is really good.”