Miller told ET she thought Burke was a 'great' fit for the role.
Cheryl Burke is "excited" for her next chapter.
ET caught up with the former Dancing With the Stars pro during her first day on the job filling in for Abby Lee Miller on Lifetime's Dance Moms on Wednesday, where she called her involvement with the show "full circle."
WATCH: Cheryl Burke Is All Smiles While Filling in for Abby Lee Miller on 'Dance Moms' Set
"I am very excited to work with the kids," Burke told ET's Brendon Geoffrion outside 8 Count Dance Academy in West L.A. "I have seen the show, yes. Of course I have!"
ET learned exclusively on Tuesday that the 32-year-old dancer would be stepping in for the remainder of the season after Miller's abrupt exit from the show. While Miller cited production issues as her reason for leaving Dance Moms, Burke said her experience so far has been "amazing."
"Honestly, this is a great change for me," Burke revealed. "I'm teaching very, very talented kids and very passionate mothers. It's kind of a full circle [moment] because I was that kid and I had that type of mom that was very passionate about my career and very supportive."
"I love working with talented kids, so I'm very excited," she added.
ET caught up with Miller on Wednesday, who said she thinks Burke is "great" -- but doesn't think she's her replacement.
"I think that's great," she explained. "I only met her once at a housewarming party a couple weeks ago. I'm glad that someone who has worked on a network show for as long as she has on Dancing With the Stars is going to see what I've been working with for seven years."
"I don't think she's replacing me, I think it's going to be a different vibe," Miller added.
See more in the video below.