England enjoyed their best World Cup performance in 28 years in Russia this summer, missing out on a spot in the final after losing to the Croats after extra time.
"No, it's not revenge. Croatia was good on the day against us in the World Cup semi-final but it's another game," Trippier told Sky Sports. "We want to go there get the win, get the points we need and then look forward to Spain."
Friday's clash will be played behind closed doors as UEFA have punished Croatia after a Nazi symbol was marked on their pitch ahead of a Euro 2016 qualifier.
(With inputs from agencies.)