Iceland were arguably the team of the tournament at Euro 2016.
Hallgrimsson, a dentist by trade, told a pre-match press conference: "Everyone wants to play".
Iceland have qualified for their first World Cup and their second major tournament after Euro 2016 where they reached the quarter-finals.
"I can see [Messi]'s in a great form and very excited about the possibility of starting a new tournament that we expect will put him in the place that he deserves", Sampaoli said.
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As for Iceland, they will be savouring their debut game in the World Cup and the tiny European nation will be eager to test themselves against one of the most successful sides in world football.
Argentina have some issues defensively but, at the other end of the pitch, they have got plenty of players who can potentially win them the game, no matter how well Iceland defend.
"I don't agree it was a miracle we've come so far", he said.
"When we went to France, we didn't really know what we were getting into", he said of the campaign, in which Iceland beat England and Austria in addition to drawing with Cristiano Ronaldo's Portugal.
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Argentina have been training to try to combat Iceland's notable height advantage, and Sampaoli admitted the 6-centimetre difference remained a challenge.
After a year of experimention since taking over that has left the former champions embarrassed in the run-in, Sampaoli also announced on Friday that he had chosen Sergio Aguero over Gonzalo Higuain to play in front of talisman Lionel Messi.
He added:"Regarding Messi, I don't have a magic formula. Now hopefully, we can use that experience at the World Cup". Everybody has tried everything against him and he always manages to score.
He not only played a large part in the side reaching the final of the 2014 World Cup and back-to-back Copa America finals in the two years that followed, he nearly singlehandedly ensured their qualification for this tournament, bagging a hat-trick to beat Ecuador in their final match to secure their place. Messi has scored four and assisted one of Argentina's last seven goals at the World Cup finals. "It's unfair to give one player the role of marking Messi".
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