This paper examines the semantic differences between English modal auxiliaries must, can, may, and semi-modals be certain to, have to, be likely to and be able to. It is proposed that the epistemic modals may (can) and must are subjective and speaker-oriented, while the semi-modals be likely to and be certain to are objective and discourse-oriented. Regarding the notion of 'ability, can and be able to differ mostly in actuality, especially in past tense. Most modals provide pragmatic usage, while semi-modals lack this function. In terms of syntactic distribution, semi-modals can co-occur with modals, yet they are subject to selective restriction. A modal selects a semi-modal with different modality to assure that the co-occurrence does not result in semantic anomaly or redundancy.