Milner spoke out about the two defenders he's played with during his career.
While Kompany was one to always "put his head on the line", Van Dijk is calmer and more positionally-sound, according to Milner.
When asked to compare the two centre-backs, Milner told Sky Sports: "They're both massive players...
"You always look at the spine of any successful team and it starts with the leaders at the back.
"Vinnie, obviously, was an unbelievable player with how he went about his business - but struggled with injuries.
"But the amount of injuries I saw him play through that no-one else would have seen is incredible.
"He'd put his head on the line, unbelievable leader and great captain with so many great qualities.
"Rightly so, one of the greatest defenders to ever play in the Premier League."
When speaking about current team-mate Van Dijk, Milner added: "Obviously Virg is a bit different to that, maybe a bit more of Rolls-Royce, if you like.
"He doesn't seem to make too many tackles as he gets in the right spot and moves the ball away.
"Maybe has a few more diags [diagonal, forward passes] in his locker, too."