Definition of "impresa"

My impresa to your lordship; a swan / Flying to a laurel for shelter.

1613, John Webster, “A Monumental Column, A Funeral Elegy” in Three Elegies on the most lamented Death of Prince Henrie, London: William Welbie

[…] or to describe Races and Games,Or tilting Furniture, emblazon’d Shields,Impreses quaint, Caparisons and Steeds;

1674, John Milton, Paradise Lost‎, Book 9, lines 33-35