The midfielder scored the winning goal as City claimed a dramatic 3-2 victory at the Allianz Arena when the sides last met in the competition back in December.
Milner believes that last season's result should give City confidence ahead of this week's Group E fixture in Germany.
"We should know them pretty well now, we've played them a lot these past couple of years, even in friendlies, so we know they're a top team," he told FourFourTwo.
"You can't do what they've done over the last few years and have their record in the Champions League without being a top team, but you want to play against the best teams and we've done that.
"We beat them at their place last year and we should take a lot of confidence from that and go into the game with no fear, knowing we've been there before and got three points."
City were knocked out by Barcelona in the last 16 last term.