"I really think I'm ready for the start of the season, both from a physical and psychological stand-point," he said as reported by Italian media.
Persistent injury issues raised concerns over whether Maldini would retire last season, but the 38-year-old player took the field for 45 minutes during Milan's Trofeo TIM victory, which they won after beating Inter Milan and Juventus.
Maldini was quick to appraise his own participation in the match.
"It's true it wasn't an entire match, but the knee reacted well and it was an important test on a particularly rough pitch. Despite all of that, there was no swelling. I believe I'm ready to return now," he said.
The Milan captain is ready to take on his 23rd Serie A campaign, and while facing off against the formidable Lazio on September 10th, Maldini is more concerned with Milan's own point deduction than the opposing team's reputation.
"I don't think the order of the fixture list can change the course of a championship all that much. We have an eight-point penalty and must therefore try to win every single game.
"Whether we're facing more prestigious or easier sides is irrelevant," he said.
Milan was one of three clubs punished during the match-fixing scandal earlier this summer. While Fiorentina, Lazio and Reggina were also give penalties, Milan got off lightest with an eight point deduction.
Juventus was demoted and stripped of two Serie A titles.
Maldini defended the court's choice to relegate Juventus, but expressed his hopes that the team will return to Serie A by the next season.
"Italian football has changed a great deal and naturally the most obvious difference is seeing Juventus in Serie B. As a sportsman, I feel its right to pay for certain mistakes, but at the same time I hope to see Juve back in Serie A from next season," the career Milan player said.
"Italian football needs this club and we respect them as opponents," he added.