Bottom-of-the-table Palace face their fellow newly-promoted side with Tony Pulis reportedly close to agreeing to succeeding Ian Holloway, who left Selhurst Park on October 23.
Following the trip to the 2017 UK city of culture, Palace play Norwich, West Ham and Cardiff in fixtures Millen believes they should be targeting points.
"Short term, if we can get some results in the next four, then we're in touching distance of four or five teams," Millen said.
"I think that's the best we can hope for at the moment.
"We've got to look at the next four games. With all due respect to the teams we're playing, they are teams that we feel we've got to try to get some results from.
"There's enough points to play for us to survive, without a doubt.
"You look at the group work, there's no lack of confidence and belief there and they're fighting for the cause. And that's all you can do.
"Further down the line, who knows? Short term we've got to start getting some wins, getting within touching distance of some teams above us and see where that takes us."
Winning at Hull is a challenge for a team which has avoided defeat in just two of their 11 Premier League matches, including in their most recent match, a 0-0 draw with Everton.
Hull are unbeaten at home so far this term - beating Norwich, West Ham and Sunderland in their five games at the KC Stadium - while Palace are pointless away.
Millen added: "Hull have probably adapted the quickest out of the three teams that got promoted. Cardiff have had some good results, certainly at home.
"We're going there with confidence but we also know we mustn't underestimate Hull. It's going to be a tough test for us.
"They've beaten teams we feel might be around us at the end of the season. We've got to show them as much respect as we do the Arsenals and the Evertons.
"Hull got promoted with us last year, we know all about them, we've had some good games against them in the past.
"We've got to play catch up. Hopefully we've had our bad spell of the season.
"We've had a bad start to the season, we can't get away from that. Hopefully that is it now.
"We've got to get on a decent run. We've had some decent performances the last three or four games and not picked up the wins maybe we've deserved.
"We've got to start looking to win games. That breeds confidence."
If Saturday's match turns out to be Millen's last of four games in charge, he will look back on his spell with fondness.
He added: "Palace has been the team I've supported all my life.
"To be in charge, to stand there against the likes of Arsenal, Arsene Wenger and Everton, it's been an honour.
"I've been proud of the response the players have given me. I've enjoyed every minute of it.
"I want to win some football matches and the players do. It starts on Saturday."
Midfielder Jonny Williams is available following an ankle injury for Palace.