A place in the Ulster junior final would be a perfect way for Milford to put the cherry on top of their celebrations for reaching 30 years.
Nigel Black’s team take on Killeeshil St Mary’s at Brewster Park in Enniskillen on Sunday afternoon.
The 2-9 to 2-6 success over Urris sealed the domestic championship in August and since then, the All-County Football League Division Four title has been sealed.
Milford won the Ulster quarter-final against Michael Davitt’s from the Falls Road in Belfast, who are managed by Termon native Tommy Ryan, 0-22 to 2-13.
Christopher Barrett scored five points from play, while Cathal McGettigan posted seven points, six of which came from frees.
“We’re injury free,” Black said of Sunday. “It’s been a good season for the club and when you’ve got this far it would be great to get to an Ulster final.
“We struggled in the first half against Michael Davitt’s but once we clicked into gear we played some good stuff.
“It’s disappointing to have conceded two goals but we were still delighted to have gotten the win away from home in Belfast.”
Killeeshil St Mary’s, who have Tyrone’s three-time All-Ireland winner Kevin Hughes as well as captain Shane Mallon on board, got the better of Teconnaught from Down, 0-11 to 0-9, in the last eight.