Whilst those outside Eastlands were tipping City to win the Premier League this season, the target laid down by their cash-rich Abu Dhabi-based owners was a place in next season's Champions League and Roberto Mancini's men currently hold a four-point lead over nearest rivals Tottenham.
Once that is achieved, according to Milner, nothing will be out of reach, and he said: "We have the biggest scope to improve out of any team in the league."
He added: "It is going to take time. There have been so many changes. You have to get that bond and learn how to play with each other.
"No team has been on fire this season. Chelsea had a great start, then struggled. Manchester United have somehow kept winning games without playing well.
"We have to get that mentality."
Milner has only just returned from a hamstring complaint that started off as a minor niggle but proved stubborn to shift. It extended his time on the sidelines after an initial settling-in period that went on longer than anticipated.
Yet Milner has no doubts he made the right decision to quit Villa in favour of City. And it did not require the recent turmoil at the Midlands club to confirm it.
"Who knows what has gone wrong there," he said of the Villa turbulence. "It is obviously gutting for me because I loved my time at the club and want them to do well.
"But I definitely made the right decision joining City. I moved to the club to win trophies and play in the Champions League and we're still on course for that. We are also in the semi-finals of the FA Cup so I am delighted."