The ex Manchester City captain told the England international that the Reds are a great club.
The pair spent three years together at the Etihad, a time where the Citizens became Premier League winners, but the Ivorian defender thinks Milner will love life at his new club.
"I saw Kolo this morning, who I obviously know from Manchester City," Milner told the Liverpool website on his first day at Melwood.
"He said I will absolutely love the place and that it is a great club, which everyone has told me. I've heard nothing but good things."
Milner knows several other players from England duty, but added that he will get to meet the others at the club before the season.
"I haven't spent too much time with the lads but pre-season is a good time to get to know the rest of the players I don't know," he said. "We'll spend a lot of time together and I'm sure they'll all be sick of me within a few weeks!
Milner's arrival at Liverpool on a free transfer comes as the famous Merseyside outfit prepare for life without Steven Gerrard for the first time in nearly two decades.
The former Newcastle and Aston Villa star, with a tenacity and energy similar to the kind Gerrard exhibited in his younger days, may of course wish to avoid the notion that he has been brought in to replace the Reds legend, but there can be no denying that Milner will bring a lot of qualities back to Brendan Rodgers' side that looked to have left with the 35-year-old's move to the MLS.
Milner has plenty of European experience under his belt, an outstanding attitude and leadership qualities, and over 50 caps for his country too. Few other midfielders currently at the club offer such things.
If he can grow to love the club as much as Toure thinks he will, and put forward performances that reflect that, it is very likely the club and its supporters will love him back too.