Nurnberg have no relegation fears this season having already broken through the 42-point barrier, while a win over their neighbours on Saturday could even see them move up to fifth in the table, a place which would earn them European football next season.
Therefore, Hecking says his side can go all out for a win on Saturday without any concerns.
"We showed too much respect at their place and there was really no need for it," he said.
"Of course Bayern have better individuals in their team, but we have seen often enough this season how a side with good team spirit can create surprises.
"We can do that too, but only if we play as a team.
"Of course we still have the ambition to get the points we need (to finish fifth), but we also know that we have a hard run-in - harder than Mainz's."
Hecking has been given a boost by the return to training of his side's top goalscorer Julian Schieber this week.
He will be given a place on the bench on Saturday according to Hecking.
Bayern coach Louis van Gaal has a fully-fit squad to choose from, apart from the long-term injury absentees Ivica Olic and Daniel van Buyten.
They make the short journey north aiming to win for the first time since 2005 at the Franken Stadion and improve their chances of finishing inside the top three.
Aiming any higher than that would be unrealistic right now, according to midfielder Toni Kroos.
"Bayer are making a very stable impression and it is going to be incredibly hard to haul them in," said the former Leverkusen midfielder on Bayern's website.