Host nation South Africa failed to reach the knockout stage of the Champions Trophy, with a defeat against England putting an end to their chances.
"We were rusty going into that tournament," said Arthur.
"Any series against England is huge and we want to make sure we are well prepared for our matches against them."
England, whose limited overs squad arrived in South Africa yesterday, will be up against South African players who have been playing domestic cricket and will face Zimbabwe in two one-day matches before taking on the Andrew Strauss-skippered tourists.
England will play South Africa in two Twenty20 internationals, five one-day internationals and four Tests.
Source: PTI
