Terry struggled with injuries last season but was a key part of manager Jose Mourinho's success in his first spell at Stamford Bridge.
Cahill knows they will have to battle David Luiz for a place in the team but he hopes to spend some time alongside Terry, who has impressed on the pre-season tour of Asia.
"Last year he had a couple of niggles and hopefully they're behind him, not just for him but the team," said Cahill.
"It seems like I've only played with him in bits and bobs, with him being in and out, and we've not really had a run of games.
"It would be great if he could stay fit so we can have consistency."
Cahill also had words of praise for striker Romelu Lukaku, who spent last season on loan at West Brom.
The Belgium international scored twice in Chelsea's 8-1 thrashing of the Indonesia All-Stars and has four goals in total from the trip to Bangkok, Kuala Lumpur and Jakarta and Cahill has been impressed by what he has seen.
"He had a great loan spell at West Brom last season, has been flying in training and scored two great goals," added Cahill.
"I play against him in training a lot and he's a handful just with his pace and power. His finishing is great too."
As for the chance to work under Mourinho, Cahill admits he is relishing the opportunity.
"It's been exciting to work for Mourinho and we're slowly getting to know him," he said.
"There's a handful of players who knew what to expect from him, but for players like me it's just exciting."