Although the definition of earth disturbance activity in Chapter 102 includes road maintenance activities:
Earth disturbance activity—A construction or other human activity which disturbs the surface of the land, including, but not limited to, clearing and grubbing, grading, excavations, embankments, land development, agricultural plowing or tilling, timber harvesting activities, road maintenance activities, mineral extraction, and the moving, depositing, stockpiling, or storing of soil, rock or earth materials.
I have never had to do anything related to erosion and sediment pollution control for a simple milling and overlay project unless the project involved other things such as storm sewer, regrading roadside swales, new areas of pavement, etc. That being said, I do not know the complete scope of your project; just call the County Conservation District for the county where the work is being performed and discuss it with them.
Chances are you will not need to do anything. If your project scope does involve some small areas of work that is defined as earth disturbance, they will most likely advise you to provide E & S controls on your plan, but they will not require a review unless, after implementation, the controls are not effective or are not being maintained.
One last thing I feel I should mention, I am seeing in the newer Act 167 plans that full-depth pavement reconstruction is being deemed as creating impervious surface while milling and overlaying is not. I cannot figure out why the distinction is being made for an existing pavement.