Rafael van der Vaart's late equaliser saw Spurs snatch a point at White Hart Lane to all but end Arsenal's title hopes, but a victory against their rivals would have seen them go level on points with City.
Spurs travel to Eastlands next month where victory would put Tottenham firmly back in the race for Europe's premier competition, but Mancini knows his side hold their fate in their own hands.
"When it went 3-1 it was better for us but 3-3 is a good result," Mancini said of the result in the North London derby. "Everything is in our hands - we are not dependent on Tottenham or other teams. If we win our games we go in the Champions League."
City remain on course for their first silverware since 1976 and City will play their FA Cup final opponents Stoke three days later in the league.
Tottenham manager Harry Redknapp has appealed for the match to be moved, claiming a conflict of interest - if City win the FA Cup and qualify for the Champions League, Stoke will secure Europa League football for next season, but Mancini insists it will not be an issue.
"I have respect for every opinion but I have never seen one team that doesn't play a game at 100% - that is impossible," Mancini said.
Meanwhile, Mancini is optimistic Carlos Tevez will recover from his hamstring strain in time for the FA Cup final. "I hope Carlos can recover in time as we have four weeks," he said.