Key challenges for 5G and Beyond networks relate with the requirements for exceptionally low latency, high reliability, and extremely high data rates. The Ultra-Reliable Low Latency Communication (URLLC) use case is the trickiest to support and current research is focused on physical or MAC layer solutions, while proposals focused on the network layer using Machine Learning (ML) and Artificial Intelligence (AI) algorithms running on base stations and User Equipment (UE) or Internet of Things (IoT) devices are in early stages. In this paper, we describe the operation rationale of the most recent relevant ML algorithms and techniques, and we propose and validate ML algorithms running on both cells (base stations/gNBs) and UEs or IoT devices to handle URLLC service control. One ML algorithm runs on base stations to evaluate latency demands and offload traffic in case of need, while another lightweight algorithm runs on UEs and IoT devices to rank cells with the best URLLC service in real-time to indicate the best one cell for a UE or IoT device to camp. We show that the interplay of these algorithms leads to good service control and eventually optimal load allocation, under slow load mobility.