Milsom, who agreed a two-year deal, admitted having manager Craig Brown and Archie Knox at the helm is what made it an easy choice and he's excited at what the future will bring to the Dons.
He said: "It was top of my wish list, signing a new deal at Aberdeen. I've wanted it for a while and I'm happy to be staying.
"The manager has played a big part in me signing this contract.
"I've played in the majority of the games since I arrived and I have enjoyed my time here. I'm looking forward to next season and that was my reason for staying.
"It wasn't a difficult decision. I want to keep progressing in my career and Aberdeen is the right place to do that. This club's going places under the manager.
"He and Archie have had great careers and both were a big influence on me staying.
"Everyone sees we're pushing in the right direction and he wants to start afresh.
"We could have almost a completely new team next season and we will want to do better than we have done this term.
"We can go upwards. The management team will put more of their stamp on the team in the next campaign and hopefully that will produce better results and push us up the league.
"I speak to Billy McKinlay (Fulham reserve coach) quite a bit and he thinks it's positive that I've signed this deal. He agrees I need to be playing regularly.
"I didn't know much about Scottish football before I arrived here but I've been lucky to play in some big games and I'm sure there are more to come."