Milner is one of a number of fresh faces at Anfield and says the club's pre-season tour is vital for the team.
Milner, who signed on a free transfer from Manchester City, will join fellow fresh faces Danny Ings, Adam Bogdan, Joe Gomez and Nathaniel Clyne on the Reds' pre-season tour of the Far East and Australia - with Roberto Firmino expected to link up with the squad later on as he participated in Brazil's Copa America campaign.
The 29-year-old told the club's official website: "It is an important time regardless, but especially as a new player coming in and for new signings. You spend that much time together.
"You are only together for two weeks but I think because you spend that much time training and travelling, and you are with each other for every minute of the day, you feel like you have known your teammates for months rather than just weeks, spending that much time together.
"It is an important time for new signings but also just as a team as well, players coming in and getting used to how to play with each other."
It's a big pre-season for Liverpool given there have been so many changes, including to the backroom staff, with the members of the squad who were present before this summer also having to adapt to alterations that are going to be implemented by Brendan Rodgers and those around him.
There is, of course, the fitness side of things to also be taken into account, but one big positive for Liverpool is that a lot of their business has been done early, and there is some time for Rodgers to try and integrate Milner, along with the other signings, to be part of an effective unit.
Liverpool need to get off to a good start in the Premier League, given the well-documented difficulty of their away games at the start of the campaign, making this pre-season tour a vital one.