Inelastic neutron experiments on the classical triangular-lattice geometrically frustrated antiferromagnet h-YMnO$_3$ reveal diffuse, gapless magnetic excitations present both below and far above the ordering temperature, $T_N$. The correlation length of the excitations increases as the temperature approaches zero, bearing strong resemblance to critical scattering. We model the scattering as critical spin-spin correlations in a two-dimensional magnetic ground state, and we speculate that this may provide a general framework to understand features typically attributed to classical spin liquids.