Burnley have already been relegated from the Premier League and the R???s will join them if they cannot pull off an unlikely victory at second-placed City.
The Londoners need to win all of their last three games and hope other results go their way if they are to pull off a miracle escape and remain in the top flight.
City famously scored twice in extra-time to beat QPR and win the title at the Etihad three years ago but they are out of the title race this time and the experienced Zamora hopes that may be a factor on Sunday.
“It’s a going to be a tough task, obviously, against Manchester City,” said the 34-year-old forward.
“It’s unlike the last time, that last game of the season, they don’t have anything to play for as such.
“So we’d like to think they’re going to have their flip-flops on and be on the beach, not want to get injured and all those bits and pieces really.
“So, that’s what we’re hoping. We’re going to be all guns blazing, and hopefully they have an off day and a relaxed approach to the day, and we can get something.”
Zamora has been a regular for QPR this season despite concerns over his fitness and his physical presence has helped strike partner Charlie Austin to have a fine season.
???I had a little cartilage operation on my knee at the start of the season,” Zamora said. “From that, I didn’t start too many games.
“Then Chris (Ramsey, manager) has come in, I’ve played games, and think I’ve done well. Charlie Austin’s enjoyed me being up there and I think I’ve done a good job for the team.
“There’s not been as many goals as I’d have liked. ??Charlie’s been getting the goals and I’ve been doing a bit of the donkey work, smashing people about a bit.
“I’m pleased with myself, pleased with the way the season’s gone personally. Three games to go and it’s about trying to muster three more performances.???
Zamora and Austin gave the City defence a hard time in the reverse fixture at Loftus Road, an entertaining encounter which finished 2-2.
“It’s nice to play against the best players in the world,” said Zamora.
“It’s nice to put them out of their comfort zone and give them something different to think about, other than the sharp runs and tippy-tappy that they’re used to in training.
“It???s nice to come off the pitch knowing you’ve done a good job and certainly made their lives hard.”
Zamora???s QPR contract expires at the end of the season and he is hopeful he has done enough to remain in the top flight.
“I’m playing on show, as such,” he said. “People are watching.
“Being fit, being out there, putting in good performances, is key for myself as well as the team. Obviously, I am going to do as best I can.
“I’d like to (stay in the Premier League), I’d love to, but there’s always a fresh young crop of players coming through.
“It’s a different aspect, my game, the way I play. If people are looking for a different option, I think I could be that.
“That’s down to managers, clubs and owners to make those decisions.”