I find it difficult to wrap my head around as well. One way you might think of it is not space expanding, but all objects shrinking. If everything shrank to half size, including wave-lengths and velocities, the size of the universe would double in size, and objects would appear to move apart from each other above the speed of light at large enough distances. However, you could never use this fact to travel above the speed of light.

Not sure if this comparison is valid though.