The Bianconeri were beaten 1-0 at San Siro earlier in the campaign and Bonucci has warned that Juve cannot afford to take the return versus the Rossoneri lightly.
"In the reverse fixture, we lacked concentration, motivation and energy, which are all vital traits at a club like Juventus. But since then, we have been growing as a side and have become very consistent," Bonucci told Sky Sport Italia.
"We’re up against an in-form Milan team, as is shown by their results in 2013. Along with the memory of defeat in the reverse fixture, this will give us extra motivation for Sunday.
"Not only do we want to get our own back on them but we’re also looking to take another step towards the Scudetto."
Sunday's match at the Juventus Stadium is scheduled to kick off at 19.45BST.
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