Milenkovic worked with Pioli during his previous spell in charge of the Viola.
Speaking after last night's 0-0 preseason friendly draw with his old club, the defender told Radio FirenzeViola: "Seeing the friends I shared so many wonderful years with was emotional.
"I'm happy that coach Pioli is back, and I wish everyone the best. The match was really tough; it's a preparation match, and we're doing our best."
On facing Fiorentina striker Moise Kean, Milenkovic added: "Moise is very strong. He has physique, an eye for goal, and positioning. Marking him was difficult, but in general playing against Fiorentina was difficult, you can see Pioli's influence. It was a good test for us too."
