Each Rabin-Miller iteration reduces the likelihood that the number will be composite 1/4 times.
So, after 64 iterations in 2 ^ 128, there is only 1 chance that the number is composite.
Assuming that you use them for a public-key algorithm (e.g. RSA), and assuming that you combine this with a symmetric algorithm using (say) 128-bit keys, the adversary can guess your key with this probability.
The bottom line is to choose the number of iterations to put this probability in the chalet of other sizes that you choose for your algorithm.
[update, clarify]
The answer depends entirely on what algorithms you are going to use for numbers, and what are the most well-known attacks related to these algorithms.
For example, according to Wikipedia :
Since 2003, RSA Security has claimed that 1024-bit RSA keys are equivalent in strength to 80-bit symmetric keys, 2048-bit RSA keys for 112-bit symmetric keys, and 3072-bit RSA keys for 128-bit symmetric keys.
So, if you plan to use these primes to generate a (say) 1024-bit RSA key, then there is no reason to run more than 40 iterations or so of Rabin-Miller. What for? Because by the time you click the error, the attacker could crack one of your keys.
Of course, there is no reason not to do more iterations if time permits. It just doesn't make much sense.
On the other hand, if you generate 2048-bit RSA keys, 56 (or so) Rabin-Miller iterations are more suitable.
Cryptography is usually built as a composition of primitives such as the primary generation, RSA, SHA-2, and AES. If you want one of these primitives to be 2 times higher than the others, you can, but it's a bit like putting a door into a 10-foot vault in a log cabin.
There is no fixed answer to your question. It depends on the strength of the other parts that are part of your cryptographic system.
All that 2 ^ -128 said is a ridiculously tiny probability, so I would probably just use 64 iterations :-).