The Spaniard, who had recent arm pump surgery, was impressive in his last outing at Mugello finishing sixth.
In the current MotoGP standings he sits in eighth position with 45 points. Leading the pack is Italy's Valentino Rossi on 118 points.
In a chat with motogp.com, Espargaro confirms that he knows the Catalunya track well having grown up close by.
"Round 7 means it's time for my home Grand Prix and of course, this is one of the highlights of my season.
"To hear my fans cheering is an amazing feeling and I will do my very best to please them particularly as I grew up very close to this circuit, therefore it doesn't get any more of a home GP than this for me."
Espargaro added that he was happy with his Mugello showing after his recent arm surgery and intends to do even better this coming weekend.
"Mugello was quite a positive race and most importantly a definite improvement after my recent arm surgery and so, I intend to do even better this weekend as I was able to start training again.
"I definitely have some good memories of racing at this track, like winning the Moto2 race from pole in 2013 which was the year I became champion and I aim to add another one to the collection this time.
"We also have a test after the race which will be very useful as we have a few things to adjust and amend, so I look forward to this week at home and I can't wait to get the show on the road," he added.