For Bootstrap 3
we divide the space with the columns, we use 8 small columns (col-xs-8), we leave 4 empty columns (col-xs-offset-4) and we apply the property (center-block)
<!--Footer-->
<div class="modal-footer">
<div class="col-xs-8 col-xs-offset-4 center-block">
<button type="submit" class="btn btn-primary">Enviar</button>
<button type="button" class="btn btn-danger" data-dismiss="modal">Cerrar</button>
</div>
</div>
For Bootstrap 4
We use Spacing, Bootstrap includes a wide range of abbreviated and padded response margin utility classes to modify the appearance of an element. The classes are named using the format {property}{sides}-{size} for xs and {property}{sides}-{breakpoint}-{size} for sm, md, lg, and xl.
more info here: https://getbootstrap.com/docs/4.1/utilities/spacing/
<!--Footer-->
<div class="modal-footer">
<button type="submit" class="btn btn-primary ml-auto">Enviar</button>
<button type="button" class="btn btn-danger mr-auto" data-dismiss="modal">Cerrar</button>
</div>