However, he also conceded that the Citizens want to do better in the Champions League, after a poor debut season in Europe's most prestigious club competition.
Zabaleta also claimed there are only four teams in England who could pip them to the post - and that the Sky Blues need to improve their away form if they wish to keep hold of their Premier League crown.
"The Premier League remains our main focus because that is the biggest prize in England," he told FourFourTwo.
"We know teams will make it even more difficult but we are determined to keep making history with Manchester City. Motivation won't be a problem.
"We didn't have the best Champions League campaign and we want to do better this time. It takes time before you are established as a top European team and we will learn from our experiences last year.
"I think Manchester United, Chelsea, Arsenal and Tottenham will challenge again. For the last three or four years, it's been City and those four sides and I can't see why that would change this season.
"At the beginning of 2012, we dropped too many points away from home, drawing with West Brom and losing at Sunderland and Everton."