Act 1:6 When they therefore were come together, they asked of him, saying, Lord, wilt thou at this time restore again the kingdom to Israel?
Act 1:7 And he said unto them, It is not for you to know the times or the seasons, which the Father hath put in his own power.
2Ti 3:1 This know also, that in the last days perilous times shall come.
Act 2:17 And it shall come to pass in the last days, saith God, I will pour out of my Spirit upon all flesh: and your sons and your daughters shall prophesy, and your young men shall see visions, and your old men shall dream dreams:
Jesus clearly told the disciples two things. They do not get to know the times greek chronos a general measurement of time or seasons greek kairos the set or appointed time. We do know that the church is in the last days of Earth according to Acts 2:17 and we know what this means for us because of 2 Timothy 3:1. So no we do not know the general time or specific time of the Lord's return and the establishment of the millennial Kingdom.
Luk 17:20 And when he was demanded of the Pharisees, when the kingdom of God should come, he answered them and said, The kingdom of God cometh not with observation:
Luk 17:21 Neither shall they say, Lo here! or, lo there! for, behold, the kingdom of God is within you.
Luk 17:22 And he said unto the disciples, The days will come, when ye shall desire to see one of the days of the Son of man, and ye shall not see it.
The Kingdom of God was first established in the hearts of men spiritually with resurrection of Christ and the arrival of the Holy Spirit. Then later will be established on the earth as the millennial Kingdom.
Rev 22:20 He which testifieth these things saith, Surely I come quickly. Amen. Even so, come, Lord Jesus.
2Pe 3:8 But, beloved, be not ignorant of this one thing, that one day is with the Lord as a thousand years, and a thousand years as one day.
2Pe 3:9 The Lord is not slack concerning his promise, as some men count slackness; but is longsuffering to us-ward, not willing that any should perish, but that all should come to repentance.
We know the Lord returns quickly but we know he measures his speed at a different rate than we do. He would say that it has only been two days since His ascension. Should he wait 12,000 more years it would only be 2 weeks for Him. If he waited 353,000 more years that would only be one year in God's time.
Also see this question on Christianity SE for references of groups which hold the idea that the Lord has already returned.