Manchester United sealed the Premier League title on Monday night with four games remaining, and with City 16 points adrift of their fierce rivals, Toure has admitted that they lost their focus after winning the league last season.
The 32-year-old told reporters: "This club has great players and fans but when you play against a team like United, it is hard. They have been more consistent than us and we have to learn from that.
"We need to know that to be champions doesn't mean winning it once. You need the right mentality every season and we have learnt that. You can't sleep once you have won something. You then need to go out and do even better.
"This season was tough because the club hadn't won the league for a long time. Everyone was so happy when we won the league that we forgot about the next season. We lost a little bit of our quality and a little bit of our concentration, and that cost us. But the guys will get back on that, definitely."
The Ivory Coast international is expected to leave the Etihad Stadium at the end of the season.