Recently, a hint was published on setting Safari-like shortcut keys for bookmarks in Firefox. I recently solved this problem a different way: using the built-in Keyboard Shortcuts sub-pane of the Keyboard & Mouse System Preferences panel. A nice feature of this is that if you set the shortcut for All Applications, as long as you have the same name for bookmarks in each application, you can use the same shortcuts for the same bookmarks in multiple browsers.
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Mac OS X Hints
http://hints.macworld.com/article.php?story=20061117174539158