But that doesn't mean he underestimates the challenge of taking on the likes Lorenzo, whose level Rossi feels has only improved since the last time they shared a (then divided) pit garage.
"I think now Lorenzo is perfect because he is very fast in every condition, rarely makes mistakes, has a high level of concentration and his race simulations are very strong," said Rossi.
"He is at the top. In 2010 he was already very strong and now he is even better."
Lorenzo won his first MotoGP title in 2010, although fans were denied a full contest between the Yamaha stars when Rossi broke his leg at Mugello. Lorenzo was leading the standings at the time of Rossi's fall.
The second Sepang test will take place from February 26-28.