Santos were reportedly interested in re-signing the forward in January, but the Brazilian international has dismissed those reports.
Robinho reveals that he is happy at the Rossoneri and hopes to stay for five or six years.
"I'm happy to be here for my 29th birthday," Robinho told Milan Channel. "I'm happy here at Milan and I hope I'll be here for another five or six birthdays.
"The best present would be three points against Atalanta on Sunday. I hope that I'll play well against Atalanta. Winning that match would really be a great gift.
"I have more experience now than during my younger years but the mentality is the same."
Robinho joined Milan from Manchester City in 2010.