Yaya Toure's goal was enough to end City's 35-year wait for a trophy when they beat Stoke 1-0 at Wembley in 2011.
And City make the short trip the Britannia Stadium for their fourth round tie on Saturday, with Milner already looking towards another showpiece in May.
"I'm sure Stoke would like to get one over us for the 2011 final," he said.
"But we'll be doing our best to give our supporters another day out at Wembley that's for certain."
The England midfielder is undeterred by City's record at the Britannia Stadium, where the team has not won since 1999.
"Our thinking is, if you want to win the FA Cup, you have to beat everyone anyway," said Milner.
"The fact we're taking more than 4,000 fans is really important because the Stoke supporters make a lot of noise.
"But our fans are brilliant and will give as good as they get when it comes to creating an atmosphere."