Cahill's bid for a place in Jose Mourinho's first competitive game in charge will be challenged by David Luiz when the squad reconvenes next week following the Asia tour and ahead of the trip to the United States.
Terry endured struggles with his fitness last season and, in a congested campaign, was not guaranteed a start.
But Mourinho believes the team talisman is fit and flourishing in pre-season and Cahill hopes he can play alongside the former England captain.
"Last year he had a couple of niggles and hopefully they're behind him, not just for him but the team," Cahill said.
"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 joined from Bolton in January 2012 and is enjoying life under Mourinho, a man Terry knows well having captained the Blues during the Portuguese's first spell in charge.
"It's been exciting to work for Mourinho and we're slowly getting to know him," Cahill said.
"There's a handful of players who knew what to expect from him, but for players like me it's just exciting."
Mourinho gave youth a chance on the tour to Bangkok, Kuala Lumpur and Jakarta.
Striker Romelu Lukaku scored in each contest, completing the tour with a double in the 8-1 defeat of the BNI Indonesia All-Stars to take his tour tally to four.
"He had a great loan spell at West Brom last season, has been flying in training and scored two great goals," Cahill said.
"I play against him in training a lot and he's a handful just with his pace and power. His finishing is great too."
Another player who impressed was 17-year-old Burkina Faso international Bertrand Traore, who, due to regulations, is not yet a Chelsea player.
Traore scored in Malaysia and a spectacular goal in Indonesia to announce his ability, with Chelsea poised to sign him as soon as he reaches his 18th birthday in September.
"He's a young lad, but I'm sure he's got a bright future at Chelsea," Cahill added.