Milner, 27, reckons the last week has given England all the motivation they need going into September's crunch double-header.
The Manchester City midfielder said: "Experiencing Rio has helped us massively.
"We are all desperate to finish the job and qualify for the World Cup.
"You don't get too many chances to play in World Cups, but playing a World Cup in Brazil... just being here for the last few days, I have seen the love they have for the game.
"They play head tennis and beach football every single day. You can sense the love and the atmosphere in the ground, it's going to be some tournament next year.
"If you don't want to play in a World Cup in Brazil after the last few days then you never will."