The German driver finished this afternoon's practice session in second position, only behind the McLaren of Lewis Hamilton.
And although Rosberg admits he will not be fighting for second during the remaining part of the weekend, he is hopeful his team can beat BMW on the street of the principality.
"Definitely," said Rosberg when asked if he was confident for qualifying. "It is not going to be a second place but it is going to be very difficult to beat McLaren and Ferrari, but possibly we can beat a BMW. That would be a great thing already."
Rosberg said Williams still have more performance in store after the FW30 seemed to suit the slow and twisty Mediterranean circuit.
"I'm happy, it has been going well today for us," he added. "I was looking forward to the weekend because I hoped the car would go well on this track and it seems to be the case today.
"It is a pretty good performance from me and the team, so I am looking forward to the rest of the weekend. We didn't have the best set-up on the car and we still have some reserves up our sleeves, we will do it on Saturday and see what we can do."
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