City handed out a 6-1 drubbing to their local rivals in October; a result which announced Roberto Mancini's side as favourites to win the league title.
However, the two sides will meet in a different competition this weekend, as City look to begin the defence of their trophy in convincing style.
Milner, though, realises that a tough task awaits City at the Etihad Stadium, particularly after the events that transpired the last time the sides met.
“That will have hurt them bad,” he told The Daily Mirror. “Everyone, from the players to the management, will be more than up for it.
“As much enjoyment as we got from it, they probably felt three times as much pain.
“We have got to be aware of that. It’s down to us to put another good performance and build on our [3-0] win over Liverpool [on Tuesday].”