The biennial World Cup project, which has the backing of former Arsenal manager Arsene Wenger, has come in for heavy criticism from continental federations UEFA and CONMEBOL, as well as coaches and pundits.
"Our job as FIFA is to constantly think about how we can improve football in the world, to make football truly global", Infantino said during an event in the Venezuelan capital Caracas.
"The FIFA president is president of the 111 countries and all those countries have the right to dream, a dream like the 'Vinotinto' (Venezuela's national team) dream".
"They also have to be able to achieve that dream because if you have to dream for eternity, in the end you prefer to do other things".
Infantino insisted that a biennial World Cup would increase the chances for smaller nations to qualify.