On the map linked below, we were on the black trail that goes south between the Blue ranger station (vacant when we were there) and the Pink parking area (the Aska Trail System). At the Pink parking area, there actually is a bulletin board with the Aska Trails clearly lined out. These go north toward Blue Ridge.
Upon returning home, I was able to find a better map and compare features on it to what we hiked and now that I have that, I would definitely like to return. We will probably hike the same road again and camp overnight, as there were several secluded spots perfect for that, including one with a great fire ring already set up.
It is a very pretty area and just feels rugged. Honestly it reminds me a little bit of Austria, Germany, and Czech Republic where I have been a few times to hike and ski. I mean, seriously, the hills with the horse pastures totally look like the "The Sound of Music". And it's just kind of nice being the only people on the trail.
One other thing to note with Rich Mountain WMA is that it is predominantly a hunting area. During popular hunting seasons, I myself would probably avoid going there or taking dogs. On the days we've been there within the past few months, though, we've only seen 1-2 other people around.