The 23-year-old helped his team to a 134-111 victory over the Warriors in Oakland and in the process put an end to their eight-game winning streak.
The ‘Greek Freak’ notched up 24 points, with nine rebounds and 4 assists.
“We’ve arrived,” Antetokounmpo said after the game.
The Bucks, who are now 9-2, sit in second place in the NBA’s Eastern Conference behind the Raptors, who are 11-1.
Warriors coach Steve Kerr questioned his players approach to the game and felt their performances was hurt by their foul count.
“Sometimes you’ve got to get hit in the mouth in this league to remind you how hard it is to win a game,” Kerr said.
Steph Curry suffered a leg injury during the game, but team-mate Kevin Durant is hopeful the two-time MVP won’t be on the sideline for too long.
“He seems good to me,” Durant said.
“I’ve got to talk to him tomorrow and see how he’s doing.
“Hopefully he’s doing well.”
Klay Thompson was the Warriors highest scorer on the night with 24 points, Durant had 17 points and Curry shot 10 points.
“They just played hungrier than us,” Thompson said.
“It was just an ugly night at the office.”
The Bucks also beat the Warriors the last time they played at the Oracle Arena, in a 116-107 victory on March 29.
But for Bucks guard Malcolm Brogdon, who scored 20 points on the night, this victory will provide a nice boost to the moral of the side.
“To come in here and play the defending champs and have a win like this, it’s huge,” Brogdon said.
“It’s huge for our confidence.
“I think it sends a message around the league.
“But regardless we have to continue to play hard every night and play on both ends.”
The Bucks next opponents are the Los Angeles Clippers who they face on Saturday.