The Manchester City and his Three Lions teammates are preparing to take on the Moldovans at Wembley and despite winning in Chisinau 5-0 about a year ago, Milner does not believe it will as simple this time around.
"It was a good performance out there in Moldova, we managed to get on top early so hopefully we can do that on Friday," he told reporters.
"We have a tough game on Friday first, but when we go out to Ukraine there will be a great atmosphere.
"We have four games left and it's in our hands. It's down to us to perform in them and finish the job."
He added: "It's a really good time to be in the England squad, we have a good mix of younger and older players.
"It doesn't take too much motivation to play for your country. Everyone is desperate to do their best for the Three Lions."
England currently sits second on the Group H table after six matches, two behind Montenegro (seven matches), and one ahead of Ukraine ahead of Friday’s home meeting with Moldova and Tuesday’s trip to Kiev.