The attacker believes he has "blossomed" since joining the San Siro side on loan from QPR and reiterated that he wasted years at Loftus Road
The Moroccan had spent the first half of the season on loan at Fulham from QPR, but the Rossoneri convinced his parent club to send him to Serie A for the latter stage of 2013-14.
Taarabt has looked a transformed player under Clarence Seedorf's wing and he hopes that his "wasted" time in England is now behind him and he can continue playing alongside the likes of Mario Balotelli and Kaka for many more seasons.
"There is no comparison between where I was [QPR and Fulham] and where I play now," he told Le Matin. "Milan are a great club and I've adapted well.
"With the Rossoneri there are all the conditions to allow me to show the best side of me. It's true that my first few games were promising, but I need to keep it up.
"I've blossomed at Milan and this is evident on the field. I'm happy to be at Milan and I hope to stay as long as possible. I'd say I've wasted two or three years of my career with QPR. A period in which they have not improved much.
"People judged me for my behaviour off the field, which wasn't fair. I'm not saying I did not do s**t, but the reactions were a bit exaggerated. Now I hope you will judge me for my performances on the field.
"At Milan, you look at a player like Kaka who is just class. A Ballon d'Or winner and a very serious professional. When you play alongside these players like him and Balotelli, you are willing to work hard. Alongside professionals of this calibre, I will learn and improve."
Milan are back in action this weekend at Udinese in Serie A following the midweek international break, then they will try to overcome their 1-0 deficit in their Champions League last-16 second leg on Tuesday.