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But star wing Gilroy, who scored a vital try in the heroic quarter-final win over Munster, knows league form and past results will mean nothing against an Edinburgh outfit who have been saving their best for Europe's biggest stage.
"We've played Edinburgh twice already in the Rabo and we've had two bonus-point wins over them so we're definitely confident that we can beat them. Saying that, we can't get complacent," said Gilroy.
"They've been playing well in the Heineken Cup and they've got some fantastic players who are very, very dangerous. We'll need to approach it the way we approached the game against Munster.
"You look at the teams that Edinburgh have knocked out in the Heineken and you have to give them great credit for that. They appear to be a different team in the two competitions.
"They play an exciting, attacking brand of rugby and you really can't sit back and let Edinburgh play. They can be a very dangerous side if you do that, especially with the likes of Tim Visser in their team. Visser's been on my opposite wing a couple of times and he's a lot of trouble, is very hard to handle and is a fantastic winger."
While Edinburgh are underdogs for Saturday's semi, Ulster undoubtedly held that mantle for their quarter-final trip to Thomond Park.
Few people expected Ulster to topple the 2006 and 2008 European Champions at a ground in which they have been nigh on invincible in the Heineken Cup yet Brian McLaughlin's men produced a simply sublime display to knock out the top seeds and book a place in the last four for the first time since 1999.
But while reaching the semi-finals signifies a step forward from last year's quarter-final exit at Northampton, Gilroy insists he and his team-mates have no intention of stopping here.
"It's exciting times at Ulster at the moment and people can see that. We've been getting progressively better over the last couple of years and we're now competing with - and beating - some of the best teams in Europe," added Gilroy.
"It was gutting to lose in the quarters last year. I only got on for a couple of minutes and it was my Heineken Cup debut so it was memorable for me, but for all the wrong reasons really. It was disappointing to lose but that's given us even more determination to go and do better this year.
"We're delighted to be in the semi-finals but we don't want it to stop there. We want to go on now and reach the final. And not only that, we want to win it."
