Slovenian manager Matjaz Kek said England were the clear favourites to win the group, but he was reluctant to dwell on the opponents.
"What matters is how we prepare. I'm sure we'll leave a good impression. We are capable of making it to the next round," he said after the draw.
Ivan Simic, the head of the Slovenian Football Association, was equally cautious, but he remains an optimist.
"I can't say the group is easy. These are strong teams, in particular the English and the Americans. It will be tough, but our players have shown that they are the best when the going gets tough," he said.
England seem to be happiest with the draw, with coach Fabio Capello naming it "one of the more balanced groups".
"We're going to have to be careful. All the games are difficult and we may start with the toughest game, since the United States will have a lot more time to prepare for the World Cup."
US manager Bob Bradley is also confident that his team will make it through the group stage of the competition.
"I think it's a fair chance for us," Bradley told US sports TV station ESPN. "We feel that this is a group that gives us a real clear chance to move on."
All three opponents are currently ranked higher than Slovenia on the FIFA World Ranking. England, the winners of the 1966 World Cup, are ranked 9th, the US 14th, and Algeria 28th, five spots ahead of Slovenia.
England qualified directly for the tournament by winning the European group 6, the US have won the CONCACAF qualification stage, while Algeria triumphed in the African group C, eliminating African champions Egypt.
England are also the only team in Group C that Slovenia have ever played. The friendly in legendary Wembley stadium in September ended with 2:1 for the home team.
Slovenians will play the first game of the World Cup on 13 June in Polokwane against Algeria.
Slovenia qualified for the World Cup on 18 November after beating Russia 1:0 in Maribor in the second leg of the play-offs and eliminating them on the away goals rule.
Under the competition format, teams are divided into eight groups and will play three games in the group stage.
- Group A: South Africa, Mexico, Uruguay, France;
- Group B: Argentina, Nigeria, South Korea, Greece;
- Group C: England, USA, Algeria, Slovenia;
- Group D: Germany, Australia, Serbia, Ghana;
- Group E: Netherlands, Denmark, Japan, Cameroon;
- Group F: Italy, Paraguay, New Zealand, Slovakia;
- Group G: Brazil, North Korea, Ivory Coast, Portugal;
- Group H: Spain, Switzerland, Honduras, Chile.
