"We've had some great results against big teams at home", he said.
"We believe in ourselves".
"He stayed back with the physio, so we are just giving him all the time we can. It's not easy but we have got the players to do it and the players are ready".
Wales sit fourth in Group E, six points adrift of leaders Croatia and three behind second-placed Slovakia.
Wales and Croatia have been familiar foes in recent qualifying campaigns, with the Dragons never having won in five previous encounters.
That is because if the teams finish level on points, Wales would finish above Slovakia due to their superior head-to-head record.
'We have not ruled Aaron out, ' said manager Ryan Giggs.
"Croatia are the favourites", he said. "They are one of the best teams in the world - especially after their World Cup performance". "But with the Welsh crowd as our 12th man, we know we can we win this game".
"We want to get to another major tournament and give it another go".
Bale had already been booked when he sent Slovakia defender Milan Skriniar crashing to the ground in the closing stages of the 1-1 draw in Trnava.
"It was just a knock on the knee and some ice has sorted that out".
"I was more anxious about getting sent off, to be honest".
"I was lucky to get away with that one, though I didn't think the first one was a yellow card so it evened itself out". "I can't make too many silly tackles or anything, I have to be mindful of that", Bale said. "I guess I have to be clever with what I'm doing but maybe I have to expect that someone is going to wind me up to get me suspended".
"But I am experienced enough to get through without a booking".
Croatia have often edged games by the odd goal and Bale admits he would love to beat his Real team-mate Luka Modric.
Bale and Modric, who also played alongside each other at Tottenham, have shared 13 trophies across six years together in Madrid but the former has never been on the winning side when they have met at global level, with Croatia winning each of the past three meetings, the most recent of which was a 2-1 victory in Osijek in June.
Giggs admits facing World Cup finalists Croatia is a tough test.
"Croatia have always beaten us by one goal in the past", the Real Madrid man said.