Virgil van Dijk says Liverpool are back where they need to be as he prepares to lead the club upon their return to Champions League duty in Milan on Tuesday.

Liverpool competed in the Europa League last season, eventually bowing out in the quarter-finals to Atalanta. Liverpool go back to Italy after losing for the first time under Arne Slot, against Nottingham Forest at Anfield on Saturday, delivering a subpar performance against the team that finished 17th last season. They will face a Milan team that have won one of their opening three Serie A fixtures.

Related: ‘Big setback’: Arne Slot says Liverpool fell below standards in Forest defeat

“I missed it,” Van Dijk said of the Champions League. “I can’t wait to be out there hearing the Champions League tune and leading out the boys. A club like Liverpool needs to be in the Champions League and we are finally back and let’s go out there and put a much better performance in than we did today [Saturday] as it is needed otherwise you are going to have an issue.

“I’m really looking forward to it and hopefully all our fans travelling over there to support us will be in high spirits and loud voices.”

It is a quick turnaround from the loss to Forest with Liverpool only having two days to recover before they take on the club they beat in miraculous circumstances in the 2005 Champions League final in Istanbul. The Merseyside club have a tough collection of fixtures in the new league format, with Bologna, Bayer Leverkusen, RB Leipzig and Real Madrid to come before the end of November.

“[We need to] keep going and keep working and make sure the performances don’t go in that direction,” Van Dijk said after the defeat against Forest.

“We all know how the atmosphere can change but that is also part of the influence from outside which could affect you. We have a very good group that really understand that Saturday was unacceptable and are disappointed. We all know everyone can do better and we have to show that on Tuesday and that is what we focus on. We have been through losses and difficult moments together and I think we have to stay calm and we will stay calm.

“Hopefully if there are no injuries happening then rhythm is always a good thing. We need the whole squad and we know after the international break it will be a game every three days so we need everyone in their best shape and best form.”