The former top-flight side are rooted to the bottom of the table with 19 points from 26 games - six behind Black Leopards but with a game in hand, and nine adrift of Midlands Wanderers in 14th, from a game extra.
Bakgaga next play league leaders Kruger United on Sunday, and finish the season with clashes against promotion-chasing Casric Stars, Cape Town City and Upington City.
"We have to fight and try and get the three points in the remaining games to get out of trouble. We have to do that," Motaung said in the Sowetan.
"That's the only thing that is left for us. It needs everyone committed, from players, especially playing at home. Under these conditions, you need that 12th man to support us."
Baroka head into Sunday's clash on the back of a 1-1 with Gomora United at home on Wednesday.
"We still have belief, we are going to keep on fighting. You can see even this game we fought, yes, we might have missed a couple of chances, especially the penalty, but you can't fault the issue of fighting spirit," added the head coach.
TS Galaxy came back from behind to defeat Milford FC 4-3 on penalties following a 1-1 draw in their Nedbank Cup semi-final at the Solomon Mahlangu Stadium on Sunday afternoon.
Casric Stars are dreaming big this season as they chase both the Nedbank Cup and promotion from the Motsepe Foundation Championship (MFC).
Baroka chairman Khurishi Mphahlele admits he has no desire to make a return to the ABC Motsepe League.
Cape Town City Chairman John Comitis says it is great for local football to have two Motsepe Foundation Championship teams in the semi-finals of the Nedbank Cup.
