We give a construction of the universal enveloping $$A_\infty $$
A
∞
algebra of a given $$L_\infty $$
L
∞
algebra, alternative to the already existing versions. As applications, we derive a higher homotopy algebras version of the classical Milnor-Moore theorem. This proposes a new $$A_\infty $$
A
∞
model for simply connected rational homotopy types, and uncovers a relationship between the higher order rational Whitehead products in homotopy groups and the Pontryagin-Massey products in the rational loop space homology algebra.