Wales have already ensured their best World Cup campaign since the inaugural tournament 24 years ago after a pulsating last-eight victory over Ireland.
And now only Les Bleus stand between them and a place in the Eden Park final, where New Zealand or Australia will await on October 23.
And Wales full-back Halfpenny has no doubt one of the tournament's most entertaining teams need to maintain their adventurous approach.
"We can't afford to go into our shells," he said.
"We have to go out and express ourselves. If we don't do that, we will lose before we even take the field, so that is not an option.
"We are a team that plays rugby and we try to make the right decisions on the ball."
Halfpenny was one of the star performers against Ireland, shining in attack and defence, and it would be a major surprise if he is not retained in his favourite position when Wales tackle France.
"I said before the (Ireland) game that to start at full-back for my country in a World Cup quarter-final was a dream come true," he added.
"The game itself was incredible. I just concentrated on my performance and tried to make sure I did all my roles as best I could.
"I thoroughly enjoyed it at full-back, I just love being there. It was an absolute pleasure to be stood behind the team that was in front of me.
"Putting on the Wales jersey is everything to me, wherever that is. I am a back-three player."
Wales have only beaten France once in the countries' last seven meetings - during the 2008 RBS 6 Nations Grand Slam season - but such is their sense of belief it is a statistic that appears largely irrelevant.
"We've said all along that we are not here just to make up the numbers," Halfpenny said. "We want to seriously win.
"All the hard work we have put in is paying off, and we are not satisfied with reaching the semi-finals.
"We will enjoy it because as a group we haven't been here before, and who knows if we will be here again, but there is still plenty to come.
"There is a feeling we can go the whole way, and we are determined to do that.
"We are a rugby nation and we've had tremendous support from all the fans who have come out here.
"They've been here throughout the tournament for us, and we can't thank them enough. I am sure it means a lot back home."
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