Sunday’s 3-0 win over Middlesbrough secured a fourth-place finish in the English top fight for the Reds, who must negotiate a two-legged play-off tie in August if they are to feature in the group phase of Europe’s premier club competition.
League meetings with Chelsea, Tottenham Hotspur, Arsenal and the Manchester clubs in 2016-17 yielded five wins and five draws for Jürgen Klopp’s team.
And that experience, Milner feels, will stand Liverpool in good stead on the Champions League stage.
“If you look how strong the Premier League is, all top sides, and we’ve shown on our day we can beat anyone,” the vice-captain said.