Bakgaga will seek to become the first club from Limpopo to win a major trophy when they battle the Soweto giants for TKO honours at Nelson Mandela Bay Stadium in Port Elizabeth on December 8.
"We are forever ready," said Mateba, who scored from a set-piece in the 1-0 win over Bidvest Wits in the semi-finals at Peter Mokaba Stadium on Sunday.
"It's football, there is no therefore. We respect Pirates but we are not scared of them."
Mateba credited the hosts' win over Wits to team work, as the club reached a final for the first time in their history.
"I am happy with the goal," he said.
"As much as I scored the winning goal, it's not about me but the team.
"Credit should go to the whole team after putting up a very good performance against Wits."
Baroka beat both Golden Arrows and Absa Premiership champions Mamelodi Sundowns 2-0 prior to ending the Students' TKO title defence.
Pirates defeated Chippa United 1-0 and AmaZulu 3-1 before beating arch-rivals Kaizer Chiefs 2-1 in the last-four at Moses Mabhida Stadium on Saturday.