The Three Lions face Montenegro and Poland at Wembley knowing wins would see them win Group H and book a place at next summer's finals in Brazil.
Milner said: "We've put ourselves in a great position and I think if we'd been offered the chance of winning our last two home games to qualify at the start of the campaign, we'd have taken it.
"I've been lucky enough to play in a European Championships and a World Cup before so it would be great to add another major tournament to that list.
"Playing against Brazil last summer you could see what a great tournament it will be by the atmosphere we sampled during that game. They eat, breathe and sleep football."
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