Back then, the Chelsea defender missed the competition after sustaining a facial injury during a pre-tournament friendly at Wembley.
And, looking ahead to England's visit to Brazil in June, the 28-year-old told the Sunday Mirror: "The chance to play in the World Cup is a big incentive to me.
"It has been a big incentive for me all season after missing out on the Euros and being part of the qualification games.
"You want your country to qualify for the World Cup and then you want to be part of it.
"I've not been to a major tournament yet so I'm hoping to be on the plane."
Cahill is also enjoying playing alongside former England captain John Terry at Chelsea and is happy with their partnership.
He added: "Yes, we are comfortable next to each other. You can see the partnership works well. Since I have been at Chelsea it has been difficult for us to get together and stay together consistently.
"Early on, when I first came here, we were in a rotation where we played three then missed one. Last year, John had a few injuries, which he has not had before. So to get him back this season has been fantastic for us.
"His performance level has been top drawer again and, for me, to play alongside him consistently has been great.
"We had a playing relationship before I came to Chelsea with England and if you look back at those games, we kept a few clean sheets so it was working well."