Maldini had a plaque dedicated to him on the Walk of Fame, and he spoke to Sky at the ceremony.
“After a really difficult start, Milan are possibly the best among those who are chasing fourth place," Maldini said.
“So I think it's fair for them to believe they can get into the Champions League because certain results only come by believing. That means you have to fight to the end for any opportunities that there are.
“It's the same for the Scudetto, Napoli have to believe and not give up because you never know what can happen.
“There aren't many chances to see Juventus lose, but if they do they need to be there and know how to take advantage."