Taiwo joined AC Milan on a free transfer from Olympic Marseille in the summer and admits he is just coming to terms with the difference in styles between France and Italy.
"In France, football is more physical; in Italy it is more tactical. I need to improve my movement without the ball," Taiwo, who has only started one League game, said.
There have been reports that the 26 year old left back could be sold in the summer, but Taiwo says he is keen to stay at Milan, especially after turning down an offer from Real Madrid.
"In the summer Real Madrid also tried (to sign me), but I am sure I made the right choice by saying yes to Milan," he said. "I want to stay here for many years. For me AC Milan can win both the championship and the Champions League."