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In 2002, they lost to Leicester Tigers, while in 2006 and 2008 they lifted the cup by beating Biarritz Olympique Pays Basques and Toulouse.
Foley was in the side that lost 15-9 in 2002, captained the triumphant 2006 team and was a traveling reserve in 2008.
"The Millennium Stadium looks a long way off at this stage and the draw hasn't been kind to us," admitted Foley, the veteran of a once record 86 Heineken Cup ties.
"But what we've learned down the years at Munster is that you have to earn the right to reach a Heineken Cup final and that the winners invariably emerge from the strongest Pools.
"Everyone is going to be excited at the prospect of seeing the match-ups in our Pool, but it is only one of a few tasty ones that emerged from the draw. Hopefully we can scratch our way out of the Pool and into the knock-out stages.
"We've had many nasty Pools in the past and managed to pull through and we'll be calling for the same effort again next season."
The key to Munster's ability to reach the past 12 knock-out stages of the Heineken Cup has been their amazing ability to pick up points on the road. They secured 11 last season, 10 in 2008/09, six the previous season and 12 in 2006/07.
"We are used to playing big games away from home, especially in France. In fact, we have a better record in France than we have in Spain," admitted Foley, who saw Munster fall to Biarritz Olympique in the semi-finals in San Sebastien in May.
"London Irish took their big game against Leinster to Twickenham last season and it will be interesting to see if they look to do that again when we travel to meet them. Whichever way you look at this Pool, it is massive.
"We know the Ospreys very well from the Magners League and we certainly know about Toulon's director of rugby, Philippe Saint Andre, from his days with Gloucester and Sale Sharks."
