With one eye on the trip, Villas-Boas rested captain John Terry completely and Frank Lampard started on the bench.
Villas-Boas said: "We will go there to try to win it. It's going to be a very good early-season game."
“We had numerous chances throughout the game and deserved to win”
He added: "We face United perhaps in their most tremendous moment of motivation and flair and style.
"A team that has made its impact at the beginning of the Premier League is different from last year, but I think it provokes in us a good challenge.
"Motivation will be the key factor in the game, and the capacity of people to transcend themselves and take the game through and come back from Old Trafford with a win."
Chelsea ambled through much of their match against the German side, with England Under-21 forward Daniel Sturridge the main livewire before Brazil defender Luiz scored on 67 minutes and Mata secured a more flattering final scoreline with a stoppage-time second.
Torres investigation over - Villas-Boas
The result pleased Villas-Boas, who said: "We had numerous chances throughout the game and deserved to win.
"An international week has gone by, then we had Sunderland after two days and then, after another two days, a Champions League win against a very tough team. But I am pleased, particularly with good passing and fluency in the game."
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