The Reds will lift the trophy after their clash with Chelsea on Wednesday.
"It will be special, very special. It was the reason I signed here in the first place and I'm sure it's the case for the other lads as well - a club of this size and with its history," Milner told the club's official programme.
"The fact the wait had been so long meant it was a massive challenge to try and end it and create some of our own history.
"You can see what it means to everyone. The night it was confirmed we were champions, you could see the emotional impact. Not just on us and the manager but the supporters and the past players - the legends. Sir Kenny Dalglish, Steven Gerrard, so many of them.
"When they were messaging and telling us congratulations, you know they really meant it and they were properly made-up. That was great. What this team has achieved means a lot to a lot of people and it's special to part of something like that."
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