Vidic told BBC Sport: "He is a great representative for Serbian football. He is a great example for how players should behave and work hard to try and succeed and maintain their careers.
"He likes to defend and has improved a lot in terms of the tactical side because he played in Italy. It is not fair to compare [with me]. He has his own abilities and has a good career. He is 27 and for a defender that is still young.
"It is good to say 'when I was young, Vidic was the target I wanted to aim for'. But players should push themselves to go even higher than their idols and the people they are being compared to. He is 27. I came to England when I was 24 or 25. He has much more to give."
Milenkovic said, about his countryman: "He set the standards for defenders in Serbia. He is our best player ever and I grew up watching the videos of his games.
"It was his leadership on the pitch and the way he played. He was willing to sacrifice for other players, to do everything not to concede a goal, to live for a clean sheet. This is what I took from him.
"Also, his reading of the game was very good. He was a very intelligent player and really aggressive on the pitch."