"I think we play a whole lot better when there is an element of fear in the back of our minds," said McNamara.
England beat France to make semi-finals
"Playing really good opposition brings the best out in you. These boys are definitely up for it, I guarantee it."
England have not reached the World Cup final since 1995 and McNamara has a fully fit squad to choose from for the match at Wembley Stadium.
New Zealand are the tournament's leading scorers with 186 points, scoring 34 tries in their four wins.
"They've been really good and blown all the opposition away," said McNamara.
"They've had some teams who have been highly motivated to play against them but they haven't been able to do that because of what the Kiwis have done to them.
"It's great credit to them that they are in the form and position they are in."
He added: "I'll pick the strongest team I feel is suited for this game. I think the Kiwi opposition are slightly different to what the French were."
McNamara hopes the experience some of his players have had of playing at Wembley in the Challenge Cup final can work in his side's favour.
"Playing at our national stadium is not something the England rugby league team does very often and it really is special," he said.
'England await Kiwi brutality'
Paul FletcherBBC Sport
"New Zealand are defending champions and are starting to look like a team who could easily retain their crown. But here is the rub - they look like that, but it is difficult to know just how good they are because they have not been under any pressure in the tournament."
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