Roy Hodgson's side host the Republic of Ireland at Wembley on Wednesday before travelling to Brazil on June 2, a game which they hope will put them in good stead for next year's World Cup.
England are unbeaten in their three games so far this year and Cleverley believes the good atmosphere amongst the squad can help them to success.
"A lot of us know each other from the Under-21s and we're enthusiastic and fearless," he told The Mirror.
"We've got to make sure we qualify first, but if we do that I don't think we'll be scared of anyone. We proved that by beating Brazil earlier this year.
"Knowing each other, coming through the ranks together and having that bond would make it even more special if we could do something big.
"Add to that the experience of senior players like Steven Gerrard, Frank Lampard, Ashley Cole, Wayne Rooney and Michael Carrick, and you've got a great mix.
"When we're away the team spirit is so good. You can see the passion is there and what it means to players when we don't win.
"We can take massive confidence from what Spain have done," the 23-year old added.
"They've got a lot of players who have come through the ranks together as well, from Barcelona and Real Madrid.
"I think there were seven of us from United picked in the last England squad, so it does help, knowing the players inside out and training with them every day. I'm sure that's helped Spain in terms of what they've achieved.
"It would be hard to do what Spain have done, but we can take confidence from the fact that 10 years ago they hadn't won anything, but look what they've done."