And the Liverpool defender says the prospect of becoming the first Scotland side to reach the knockout stages of a tournament is "driving them forward".
Steve Clarke's team qualified for the last European Championship in 2021, only to go out with one point and a solitary goal.
Now, the eyes of the world will be on them at the Allianz Arena on Friday with the most daunting of tasks ahead.
"We know that's what's at stake," said Robertson in Munich. "We've got a lot of incentive but one is becoming that legendary squad - that has to drive us forward.
"We have to be at our best and if we can do that, who knows where we'll be come 23 June."
Making the last Euros was a watershed moment for the Scots as they ended a 23-year wait for a major tournament.
However, a largely-empty Hampden witnessed two defeats, while a goalless draw at Wembley against England was as good as it got.
"The first Euros was massive for us, but now we want to compete,” said Robertson.
“Last time, we felt in the England game we did pretty well but let ourselves down in the others. We don't want to have any regrets this time.
"What's the worst that can happen? We go on to a long list of teams that haven't made it out the group, or we put ourselves in a position to make history.
"We're excited by the challenge, we're excited about what's ahead, and if we perform the way I know we can perform then I'm confident we can make history."
‘Respect everyone and fear no-one’
A normally stoic Clarke was in confident form at the Allianz Arena as he fielded questions in a packed media conference.
The Scotland manager was asked about the enormity of opening the tournament against the hosts, and said: "It's a bit of a sideshow and hopefully we don't get too caught up in that. It's a difficult game.
"One of the mantras I've had is respect everyone and fear no-one. We know they're a good team but hopefully we can show everyone we're a good team as well."
Scotland fans were given a scare at the start of the week as captain Robertson was filmed leaving training early.
However, Clarke says his team are “flying”, fully fit, and ready to go.
"I think we should all be proud that we're here," he added. "It's been a long time since 1998 when we actually travelled abroad to appear in a tournament like this.
"We're proud we've been able to do back-to-back tournaments and hopefully by the end of this we'll be even more proud at having done something a bit more special."
Team news
Clarke didn’t have his issues to seek coming into the tournament, with Lyndon Dykes, Lewis Ferguson, Aaron Hickey and Nathan Patterson all dropping out with injury.
However, the group that travelled to Germany is fully fit for Friday’s showpiece.
Bayern Munich midfielder Aleksandar Pavlovic dropped out of the hosts’ squad on Wednesday with tonsilitis and was replaced by Emre Can of Borussia Dortmund. They have no other injury concerns.
What are the Germans saying?
Germany head coach Julian Nagelsmann: “I think we’re ready. The boys seem in good form. We are a bit nervous but we have to have a certain nervousness.
“Scotlad have four or five good players and lots of players who have physicality. It’s a team that doesn’t have world stars but that makes them very dangerous.
“It’s an incredible development. It’s not kick and rush. They can do that, but they can play football. They lost 4-0 to Holland, but they were better than the Dutch.
“We have more pressure than Scotland, so I’m sure they want to capitalise on that."
Germany captain Ilkay Gundogan: "It means a lot, not just to be captain, but to be part of this team and have this tournament in our own country.
"In 2006, I watched the World Cup games and loved them. Now I'm a part of it. I represent the German people with pride. I want to show this on the pitch."
How can I watch Germany v Scotland?
The opener is live on ITV, but you can follow every moment of the game on the BBC Sport website and app.
Build-up will run from early on Friday and include all the latest news, opinion and colour from Munich.
Then you can follow live text updates, listen to commentary on BBC Sounds, and watch highlights online just after the final whistle.
Match stats
Germany and Scotland are facing each other for the third time at a tournament. Germany won the two previous encounters, in the group stages of the 1986 World Cup (2-1) and Euro 1992 (2-0).
Scotland have won only one of their last 13 matches against Germany (D4 L8). That was in April 1999, with Don Hutchison scoring the only goal in a Bremen friendly.
Germany are taking part in their 14th Euros, more than any other team. They have won the trophy three times, the joint-most alongside Spain.
This is the fourth time Germany have been sole hosts of a major tournament, reaching at least the semi-finals in each of the previous three editions. They won the 1974 World Cup, reached the last four of Euro 1988, and were third at the 2006 World Cup.
Germany have conceded at least once in each of their last 12 tournament games. The last time they kept a clean sheet was against Slovakia in the last 16 at Euro 2016.
They have won only one of their last five matches played in Munich (D3 L1), a 4-2 victory against Portugal at Euro 2020.
Scotland are making their fourth Euros appearance after 1992, 1996 and 2020. They have so far never reached the knockout stages.
Scotland’s two wins from nine Euros matches came against CIS in 1992 and Switzerland in 1996. They have failed to score in six of their nine matches.
Scotland won their first five qualifiers but failed to win in their final three (D2 L1), conceding seven times , having shipped just once in their first five.
Thomas Muller has scored 10 goals in 19 World Cup appearances but has never scored in 15 Euros matches.
Scott McTominay scored seven goals for Scotland in qualifying, the joint most by a Scottish player in a campaign, alongside Steven Fletcher (Euro 2016) and John McGinn (Euro 2020).
This is Steve Clarke’s second major international tournament as head coach. He’s the first Scotland boss to lead the team into two consecutive Euros.