Pirates will host Absa Premiership returnees Highlands Park at Orlando Stadium on August 4 looking to build on their runners-up finish to champions Mamelodi Sundowns in 2017/18.
"Last season we ended second on the log. We were close in winning the league," says Mulenga.
"This season we have to start where we left off last season and go on. I think we can be champions."
The Zambia international hopes new signings such as Vincent Pule, Kudakwashe Mahachi and Meshack Maphangule can swiftly settle at Mayfair and complement the existing strikeforce, which includes his compatriot Justin Shonga and Thamsanqa Gabuza amongst others.
"Ja, football sometimes speaks in two languages," says Mulenga.
"Sometimes you can have good players but if you are not playing according to their potential there is nothing you can achieve.
"I can say we have a good strikeforce. We just have to encourage each other, support each other and work hard."
Meanwhile, Senegalese workhorse Issa Sarr has followed fellow midfielders Bernard Morrison and Thamsanqa Sangweni out of the club after falling out of favour under coach Milutin Sredojevic last term.
The 31-year-old initially linked up with Soweto giants in 2014 from Platinum Stars [now called Cape Umoya United].
The Sea Robbers have also parted ways with second assistant coach Benson Mhlongo, who has taken charge of National First Division newcomers TS Sporting.