The Panthers will enter Thursday night's clash at AAMI Park as rank outsiders, after being shocked by an understrength Sydney Roosters last week.
But while Penrith have attempted to move on from conceding 38 points in that match, they are well aware of the challenge that awaits in a fresh Melbourne side.
Panthers players have long spoken about how their 2020 grand final loss to the Storm helped shaped their dynasty, turning them into four-time reigning premiers.
That was evident in two of their return matches against Melbourne in 2021, with Viliame Kikau pulling off a last-minute try-saver in the first clash to win Penrith the match.
The Panthers then physically belted the Storm in the 2021 preliminary final, a game in which they entered as heavy underdogs and emerged as the side they are today.
And Cleary expected Melbourne to use the loss for a similar motivation on Thursday night.
"We definitely did back then. You wouldn't be human if you didn't have a little bit of that in you," Cleary said.
"But we always totally respect the Storm, always have. Always look forward to this opportunity to play them.
"Whenever we get to, going down to Melbourne is arguably the toughest road trip in the game. It's a great challenge. Definitely looking forward to it."
While the Storm are at full strength, Penrith will have Daine Laurie play fullback with Dylan Edwards out with his groin strain.
The Panthers have lost Jarome Luai and James Fisher-Harris since last season's decider, with coach Cleary believing it was too early to say if Penrith could be a better team in 2025.
Cleary did concede it was possible Melbourne are a stronger side now, albeit while most teams still adjust to new combinations.
And while the Storm's spine and backline is still intact, their pack has upgraded with Nelson Asofa-Solomona to return from suspension and Stefano Utoikamanu a marquee recruit.
Asofa-Solomona's absence in last year's grand final was heavily felt, with only one Melbourne forward topping 100 metres.
And Penrith front-rower Lindsay Smith said a Panthers side now missing Fisher-Harris had no choice but to try and be physical with Asofa-Solomona, in a bid to limit the Kiwi's impact.
"He's definitely a big human," Smith said.
"You've got to throw everything you've got into each and every tackle with him.
"He's not just big – he's mobile and he's fast and he's athletic as well so there's a lot that goes into it.
"With a guy that size, I feel like you've got to be physically and mentally ready. If you're not there physically or mentally, he can make you look like a bit of a (fool)."
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