The 2-0 defeat at Liverpool was the first time Milner had faced his former team since leaving in 2023.
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The midfielder is wearing the No20 shirt at Brighton this season in honour of former Liverpool striker Diogo Jota, who was killed in a car accident this summer.
"Disappointing result but happy to be back out on the pitch and a special moment to play at Anfield wearing the No.20," Milner said as part of a post-match social media post.
"A massive thank you for the incredible welcome from the Anfield crowd. YNWA."