Can a milestone record display within a start/end span in Timeline view?

[Kyle_Bridges]

I’m using the Timeline view to display a project duration for resourcing purposes. I recently learned how to add a milestone. However, from my understanding, you have to create a record separate from the project.

Is there a way to combine these records in order to have the milestone overlay (aka live within the start/end date range) the start/end project display?