Fiorentina qualified for the Europa League while Stephan El Shaarawy scored his first goal in seven months for AC Milan.
Liverpool give U21s more game time than Premier League rivals but top flight lags behind Europe.
Substitute Samuel Eto'o struck a last-gasp equaliser at Empoli but Sampdoria's European hopes were ended.
Hellas Verona rallied from behind to beat Empoli 2-1 and enhance their chances of finishing in the top half.
Napoli's hopes of Champions League qualification suffered a setback as they drew 2-2 at rock-bottom Parma in Serie A on Sunday.
Fiorentina won 3-2 in a topsy-turvy Tuscan derby meeting with Empoli to remain in the frame to finish fourth in Serie A.