The Airlie Birds won the game at Bramall Lane 34-12, and Yeaman wants to make the most of the rest of the campaign.
“For me personally the Cup is very special, I have been lucky enough to play in three finals as well as win one of those too,” the former England centre told his club’s official website.
“I’m not getting any younger now so I want to get to another final and win it, especially with it being at Wembley that would make it extra special.
“That is one round down and we have four more left, so we’ll take each round as they come and a lot of it comes down to the luck of the draw and we’d be really happy if we get a home tie.”
Yeaman did acknowledge what a tough test the Eagles had provided Hull with in the Steel City.
“Sheffield were tricky,” he added.
“They are flying at the minute because they’re second in the league and have only lost the one game which was against Leigh last week.
“They have some great players and the Kiwi connection they’ve got is good for them because they are always tough people to face so they are a good side.
“We went to Sheffield knowing it would be a dog fight although we were quietly confident we could get the job done but it was still a difficult game.”