On Sunday, City edged Reading 1-0 at Eastlands - Richards netted the second-half header which separated the sides and set up a semi-final with United.
Richards said: "We're looking forward to it, it's going to be a great game."
Belgian defender Kompany told ESPN: "I will let you guess how much the next opponent will mean to us.
"There's no easy way to the final. We're looking forward to it."
Kompany also paid tribute to Championship side Reading.
"Credit to them. They gave us a hard time. We had a lot of chances so I think it's fair," he added.
Richards added: "It was very difficult. As the game went on it got harder and harder. Reading defended very well."