They don't miss "us", they miss the interaction with us. They will miss the friendship and wonder what has changed to affect that portion of their relationship with us. I know, very weird, but they are narrowly focused and don't see the "cause and affect" of their actions. Every interaction with them is affected from our standpoint, but they don't understand that.
My stbx told my Sister she missis her friendship with me and doesn't understand why I'm so indifferent to her. She actually told my Sister.. "I was a stranger to her anymore"... WTF, I'm not the one who's behavior and personality took a complete 180 in a short period of time.
I'm sure our future relationship will take some sort of shape, but it will be based on getting to know each other again. I don't have any expectation of what that relationship will look like. It's really like meeting a stranger. Sure you can sense a foundation for some type of friendship, but you have to get to know the person first to see how involved that friendship will be. At this point, she just feels like an acquaintance to me.
"It is curious that physical courage should be so common in the world and moral courage so rare." -Mark Twain