Well, you CAN'T exactly have the same feeling as in a real match but you CAN come very close.
You must take the drill very seriously and try to win it. If you're competitive enough, you won't like losing. And that will create some pressure.
What most people do is to consciously or subconsciously avoid being serious in practice so that they don't "really lose" if they happen to lose that drill.
You need to become aware of this and force yourself to play drills seriously and put your ego on the line - and risk losing that drill(s).
Then you will experience pressure (similar to a match) and you will then train how to deal with pressure. That will of course help you get better in time...
