Mandzukic, who won the Champions League last season helping Bayern defeat Borrusia Dortmund in the final, played in the Zagreb match when Robert Snograss' first-half effort was enough to clinch Scotland's first World Cup qualifying Group A win.
It was a defeat that severely dented the Croatians' bid to catch leaders Belgium.
Mandzukic said: "The match in Belgrade is a great opportunity to make amends for the blunder against the Scots and partially fix that negative result. I've got a good feeling, I am sure that we will do our utmost to finish off with a positive result for Croatia."
Relations between the two Balkan countries have remained strained since the war of independence during the 1990s and Mandzukic is bracing himself for a fiery reception in Belgrade.
Mandzukic, who scored in the 2-0 win over Serbia in March, said: "It will certainly be a hot atmosphere in a full stadium, which creates greater Serbia pressure.
"This is a good thing for us, in Zagreb it was reversed and I know what a burden it is."