But, according to Pennell, any friendships will be forgotten when the match gets underway on Friday night (7.45pm kick-off).
He said: "It will be a bit strange to be against them to begin with but, once you get going, it's just another game of rugby. It doesn't matter who you're up against because you have to give everything you've got.
"Wasps are tough but we're on our own turf so we'll be looking to get that first win. And I really believe it's coming this week."
Warriors enjoyed their best away performance last time out as they pushed 2012 Aviva Premiership champions Harlequins all the way, before eventually losing out by one point.
And Pennell believes the match at Twickenham Stoop has given his side a boost ahead of the final six games of the season.
He continued: "The Harlequins match has given us a lot of confidence. It was obviously heart-breaking to have lost by a point again but we certainly had ourselves in a position where we could have won.
"We know every game is going to be tight from here on in so we've got to make sure we're on the right end of the result this Friday."
With clashes against Newcastle Falcons, Exeter Chiefs, Bath Rugby, Saracens and Gloucester Rugby still around the corner, Pennell is not writing his side off just yet.
He added: "We know we need to win as many of these last six games as we possibly can to stay up.
"We've still got every chance of doing it and we just have to make sure we go out and deliver."