The Swans were unfortunate not to get the job done at the Liberty Stadium on Saturday, having dominated their top-flight counterparts for long periods of the 1-1 stalemate.
Martinez accepts that a tough test now awaits them at Craven Cottage on February 24, but the Spaniard believes his players will head to the capital in confident mood.
"I think playing in the fifth round is important enough, but I think the draw will have both clubs looking forward to playing the best club in the world at the moment," he told Sky Sports News.
"I think we have to stay focused on Fulham and be realistic. Fulham are a very good Premier League side, they are playing at home and they will be favourites.
"We have a tough test in front of us but it is one we will look forward to and enjoy."
Fulham boss Roy Hodgson was full of praise for the Swans following their cup showdown at the weekend, and Martinez has returned the favour by admitting he admires the Cottagers boss for all he has achieved in the game.
"I really admire Roy and his career," he added.
"He has been through some different environments in football and he has been successful in all of them.
"To manage teams like Inter Milan and to manage at international level is special. He is also a true gentleman and we admire Roy and will look forward to facing him soon."
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