The Gers have fond memories of Hampden this campaign having lifted the Viaplay Cup in Mount Florida earlier this term.
Speaking to the media ahead of Sunday's last four showdown, Clement said: "I'm excited.
"It's always exciting to play a semi-final and be close to a final, to play at Hampden too.
"We had a good experience there, and you're two games away from a trophy.
"What is the feeling among the squad? Hungry. There is a desire to have a new game and prove themselves. It's what I expect.
"We will play our own game, believe in ourselves, and show our qualities.
"We need a better performance than on Wednesday to win. But was the performance better than Ross County? Yes, it was.
"Everyone knows we need to take the right lessons and do the right things against Hearts.
"It will be an interesting test for my players, and I know they're all hungry to reach the final."
After embarking on an 11-game unbeaten run to start the calendar year, the Gers have found victories more difficult to come by in recent weeks.
However, Clement insists that it's a period where his players must stand up and be counted, with further silverware still very much on the line for the Ibrox side this campaign.
He added: "This is Rangers. It's a club where you always need to fight, and every point that you lose is like going through hell. It's good and it presents the challenge.
"It is now interesting to see what players can live this way, but it's an exciting place to be because, on the other side, you can go to heaven when you win.
"In other teams, where it's not so important to win points, you can't go to heaven. It's something that you need to embrace.
"It's easy to be good and happy when it's going easy. But it's when the going gets tough that you see the personality and character.
"It's also a growing experience. It's an important part of this club; it's something to look at when it also comes to recruitment.
"We will grow again over the next couple of weeks, and it's about keeping the same resilience and mentality that they had before.
"They showed it several times with quality. That's what they need to do again."