The Reds will be defending their Premier League title next season after claiming the trophy for the first time in 30-years.
Asked by the club's website what they can do to continue their success next season, Milner said: "I think it's getting that balance right. We have to enjoy it because we know how hard it is to win trophies, we've been very good to do it but also lucky to win the amount of trophies we have had this year.
"Trent [Alexander-Arnold] thinks it's absolutely easy! He just turns up and wins trophies every year! I can assure you, with the amount of years I've had in my career, it's not that easy.
"The amount of training sessions in the rain, the times when you're injured and that sick feeling you get when you lose a game or even a five-a-side at Melwood. We're shocking losers, all of us.
"When you win something, you have to enjoy it. That's what it's all there for, that's the hard work and you look at the teams you have beaten to get there – it's an incredible achievement.
"It's a short career and you don't want to waste a season or two seasons thinking, 'We were that good a team but we took our eye off the ball and didn't deliver.' That would be criminal and something we definitely don't want to look back at.
"We have a couple of weeks to enjoy this and enjoy being champions and then, as soon as next season starts, it's down to the fans to carry on enjoying it and enjoy being champions for us. We have to do our job, get on that field and be even better. If we're at the level we're at now next season, it won't be good enough."