The Scots began their Group A campaign with a disappointing goalless draw at home to Serbia on Saturday.
Speaking at Scotland's Mar Hall training base, the striker said: "We need to win. We need to get a goal, goals win games."
Miller went on: "We played well on Saturday and created half-chances and on another day we would have taken them. We are disappointed not to have won.
"But it's not a bad point from Serbia, who are a very good team, and if we win tomorrow we will find ourselves in a decent place in the group.
"We are going out to win the game and, with two home games, we would be disappointed if we didn't win one of them."