Liverpool were comfortable 4-1 winners against an U23 Villa line-up, which was forced into action due to a coronavirus outbreak at Villa.
Milner said, "They're a good set of lads. They put a shift in. In the first half they got the goal to keep playing. We got the result in the end but not an ideal situation for our team.
"We had a situation where we got into areas but we didn't get the final ball - that has happened in the past few games.
"We needed to keep working hard and pushing things to get things right.
"We knew we had to do things better. We didn't get it right, especially for their goal.
"One of their lads said he hadn't played for two months."