The Manchester City midfielder was part of the side that thrashed Moldova 5-0 in their opening World Cup qualifying match, and looks likely to play against Ukraine on Tuesday.
The Three Lions were dumped out of Euro 2012 on penalties after a goalless draw with Italy, and Milner believes that the side are already improving.
"I think there were positives to draw from that experience [at Euro 2012] if you look at how organised we were and how well we did as a team with such a short time with the manager change," Milner told talkSPORT. "We said it then and we'll say it now, the more time we spend together as a group of players and with the manager we'll only get stronger as a team and implement [Roy Hodgson's] ideas and how he wants to play and get better and better at that.
"We looked very solid [at Euro 2012]. We defended very well, worked very hard but maybe didn't move the ball and keep the ball as well as we would have liked.
"You win games by having a tight defence and being solid at the back and we want to continue that and improve that side but also, I think you saw the other night, there is more patience in and around the box and rather than sling it into the box we're trying to find that right pass and be a bit patient."
England face Ukraine at Wembley on Tuesday.