You can't make "Firefox Suggest" the default but you can move it closer to the top by unticking "Show search suggestions ahead of browsing history in address bar results" in settings. The default action will always be "Search" or "Visit" the autofilled address.

Where can I raise the feature request for this? The safari does this so well.

@zeroknight - Thanks for looking!

Raised a feature request: https://connect.mozilla.org/t5/ideas/make-firefox-suggestions-default-selection-in-address-bar/idi-p/48568

You may get autofill to suggest full URLs from history if you have browser.urlbar.autoFill.adaptiveHistory.enabled set to true in about:config.