What you can do for your company!
Author states about companies: 'they need to clearly communicate why the company values them and what the company can help them achieve.' - I might suggest that is one of the problems, they want to company to help them achieve their goals.
Rather I would suggest it's important to advise/inform Millenials might be able to reach said goals if they do these things to help the company succeed; thereby the employee succeeds. Company is not there to serve the needs of the employee (on the whole), rather the employee is there to serve the needs of the Company and is paid a salary and other compensations (perks, stocks, etc) to help achieve the company goals.
The article sorta states that at the end of that paragraph with 'explain to millennials how their work with the company is contributing to the betterment of society as a whole', which is important to have employees feel a valued part of a team; but achieving advancement is a task set for the Millenials to undertake, not for the company to fulfill.