Herrera said Giggs played emphasis on the amount of time that has elapsed since United last won the competition.
Giggs was part of the last United side to lift the trophy in 2004 when Sir Alex Ferguson's side overcame Millwall at the Millenium Stadium in Cardiff. The side has reached two finals since, the following year when they lost to Arsenal on penalties, and an extra time defeat to Chelsea at Wembley in 2007.
Herrera revealed what Giggs has said to the side, telling MUTV: “Of course, Ryan Giggs said to us two days ago that we should not be [over] 10 years without this title. Of course we are going to try to win, even though we know it will be very difficult. All the teams in England are ready to win this competition but, of course, we are Manchester United and we have to try to win this competition.
“We are happy, of course, because we won [against Yeovil], but I think we could have done it better in the first-half. Then, in the second half, we tried to give the ball more and be more patient. Of course, we are happy about the FA Cup which is, as I said before, a very, very emotional tournament."
The competition carries on extra significance for United this season as it represents their only realistic avenue for silverware this season. It seems as though Manchester City and Chelsea will fight it out for the Premier League title, while earlier on in the season they were humiliated in the second round of the League Cup, losing 4-0 to Milton Keynes Dons.
Herrera opened the scoring with a spectacular strike against the Glovers before Angel Di Maria came off the bench to round off the scoring and secure United's passage into round four.
Winning the competition this season would not only end a long wait to lift the cup but would allow United to reclaim their record of FA Cup triumphs after Arsenal's victory last season enabled them to share the record of 11 cup triumphs.