The 26-year-old admits the 3-1 loss to the Dutch champions was difficult to swallow, but is confident that his club will rediscover their form when Swansea travel to the Etihad Stadium.
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"Coming on the back of disappointment at Ajax, it's important that we recover – get stuck back in and get fired up and ready to go.
"We can't rest on our laurels and that disappointment."
Tactics and the performance of the players were heavily questioned following the midweek defeat. After taking the lead in Amsterdam, Roberto Mancini's men looked bewildered at times and succumbed to a 3-1 defeat.
And Milner says they need to look at what went wrong to ensure the same mistakes don't happen again.
He added: "We need to look at the video and see what went wrong and where we can improve and take that into the match and come out with all guns blazing.
"We need to try and put away some of the demons from the last game by getting a good win against Swansea."