Swansea had moved themselves clear of the drop zone after picking up wins over Wigan, Manchester City and Fulham, but they are not yet mathematically assured of safety.
"There are six games left, if we get three points that should be us safe as it means the other teams have to win four games (to catch Swansea), and if they lose again it means they would need five wins from six, which is difficult for anyone," he said.
The south Wales club currently stand 11 points clear of the bottom three, with a vastly superior goal difference to the clubs battling it out at the foot of the table.
If Swansea are to secure those three points they will need to beat a QPR side sitting above the relegation zone on goal difference alone following their defeat at Manchester United on Sunday.
And Pascoe hopes the home side's need to go on the attack will play into Swansea's hands as they seek a first league win at Loftus Road.
But the former Wales international says the Rs squad need to start to deliver for his old team-mate, Mark Hughes.
"They need to win, they are at home and have to take the initiative," he said.
"They have some big characters, big players on big money and they need to produce.
"What they did in the Championship last year is gone. This is a different kettle of fish in the Premier League and those big players need to play for Mark Hughes."
Source: PA
Source: PA