Hi,
How are you? It is not unusual for men to leak a bit of urine after they think they have finished urinating. A survey has shown that 40 per cent of all men over 40 have this problem. One important thing to note, however, is that a male urethra, which is about 15-20 cm long, is not a straight tube. If a little urine collects in the upper curve, it might not come out while you are urinating and then drip out afterwards. As you mentioned milking the urethra can help in emptying the bladder.
Also exercises strengthening the muscles around the place where the urine pools (pelvic floor muscles) helps the urethra to empty more efficiently and avoids after-dribble.
If this doesn't help and you still leak more than a few drops you should consult your doctor.
Best.