Scudetto winners AC Milan will set out to ruin Udinese's Champions League qualification bid on Sunday, according to Massimiliano Allegri.Already crowned Serie A champions for the first time since 2004, there is nothing at stake for Milan when they face Udinese away from home in the last round of the season.

The same cannot be said for the hosts at the Stadio Friuli, who come into the match in fourth place, two points clear of Lazio in fifth.

Udinese will be desperate to beat Milan and crown an impressive season by securing a berth in the Champions League qualification rounds.

But if Allegri has his way, Francesco Guidolin's side are unlikely to find the visitors in a charitable mood, despite their comfortable situation.

"We’ve got nothing to lose, so we have to play a great game," Allegri said.

"Udinese will be very motivated, but we are Milan and cannot afford to embarrass ourselves."

"They have great players like Antonio Di Natale, Alexis Sanchez, Gokhan Inler and Cristian Zapata, so the Champions League is a huge achievement for them, but we aren’t going there to facilitate their party."

The visitors will be farewelling long-serving midfielder Andrea Pirlo, who is set to move to Juventus in the close-season after 10 years at Milan.

Fellow veteran Clarence Seedorf could also depart the San Siro in the close-season, but his future is yet to be determined.

"Juventus have made a great signing by bringing in Pirlo," Allegri said.

"It was a mutual decision from all parties, so our paths have separated, but I’m sure he’ll do wonderful things at Juve."

"I still need to talk to Clarence Seedorf and will wait until the end of the season."

"Considering the rapport I have with everyone, I will honestly answer every question he has for me. Once we have spoken, I’ll tell you our decision."

Allegri also assured supporters that whoever arrives in place of Pirlo will be of the highest quality, as the team attempt to mount title challenges on multiple fronts next season.

"Our objective is to win the Champions League, the Scudetto and the Italian Super Cup next season," he said.

"Pirlo’s replacement will be world class."