Napoli were pursuing Soriano, but withdrew when he expressed a desire to join Milan and be reunited with his former coach Sinisa Mihajlovic.
Mauri scored two goals from 33 appearances for his former side Parma and gained much attention for netting the winning goal in surprise win over Juventus for the bankrupt club.
Soriano featured 33 times and scored four times for Samp in the 2014-15 season.