"I always say that you judge a manager after three years, that is the minimum," Taylor told the Birmingham Mail.
"Martin is now going into the fourth year and it is now his team and his squad.
"When I have seen Villa play, and he has had his full team out, they have been good enough.
"Martin Laursen is a big loss to him and it will be interesting how he replaces him.
"When he has not had all of the first team available, through injuries, suspensions, whatever, the squad isn't strong enough.
"Villa used the fewest number of players in the Premier League last season."