City came from two goals down at the Allianz Arena to eventually win 3-2 which inflicted on Bayern their first defeat in 11 matches in Europe.
Although the result kept City in second place on the Group D table, match-winner Milner was taking plenty of positive vibes into the next phase of matches which will be determined at the draw on Monday.
"It says a lot about the dressing-room and the character of the players," he told Sky Sports 2 after having a hand in City's two opening goals before scoring the winner.
"It was a terrible start and we gave away some sloppy goals.
"But to go to a place like this and go 2-0 down and then come back and win shows the character in this dressing-room.
"It was not enough to win the group but it shows the type of performance we need in the next round. We can come to a place like this and score goals.
"We wanted a bit of revenge after the first game (which City lost 3-1). It will give us a lot of belief. We will come up against a good team like Bayern (in the next round)."
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