The Scottish champions have been drawn in the daunting Group H alongside the Italian giants, Barcelona and Ajax, who have all previously won Europe's top club competition.
Celtic appear to be facing an uphill struggle, but they upset the odds while beating Barcelona last season and the club boasts a rich history, including a European Cup final win over Inter Milan in 1967.
"The group we have is really difficult with some of the greatest clubs in world football," said the Greek striker.
"But we are a great club as well and we want to stay in this high level every year if possible.
"The players know the history of this club, we are really proud of what the previous teams and players did in the club's history, and we want to create our own history."
Samaras scored in five away games in the last European campaign and in the Hoops' first qualifying round at Cliftonville this season, but he is paying little attention to such statistics.
"I am not playing football for records or numbers," he said.
"I am playing football because I love it and I want my team to win. The rest is just numbers.
"If we win tomorrow and I score a goal then okay, but if someone else scores....the main point is try to get something from the game.
"We worked hard in the summer and pre-season and we have already played six European games and SPFL games.
"Our fitness is of a high standard and we are here because we liked what happened last year.
"It was a great experience for everyone at the club and we worked hard to be back in the group stages and so we want to enjoy the games and try to win them if possible.
"I know the group is really tough but we are ready for the challenge."
You can watch AC Milan v Celtic live on Sky Sports 2HD at 7.30pm