In the second season half the Lannister army was 30,000. Now that was before the Blackwater, but let's say they rebuilt their losses since then. So best case they have 60,000 men. Danny has the Unsullied, Tyrell army, part of the Ironborn fleet, Dorne, and three freaking dragons. That's probably enough without the Dothraki. The quote you are talking about was King Robert before she hatched the dragons. I think dragons can move faster than an army and could wipe them out pretty quickly before they got close enough to strike your army in an open field. Castles aren't safe from dragons. That's why Harrenhall is in ruin. The only people who could withstand the dragons were Dornishmen. That was because they are decentralized without big castle targets and no one could hold the land.
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