While in my teens, my dad rented a small ranch-like property, and he bought a few animals from the owner. One was a milking cow. My dad loved the old ways, and I learned quickly that I didn't want to milk cows for a living. But we didn't have to buy milk or cheese for some time... I fell completely in love with the fresh milk & cheese. Had never had it. The word that comes to mind is... Hardy! When our cow died, it was back to store bought. It felt like I was drinking water. The only thing I can compare it to was when I got back from Germany. The Beer I had for the 2 and a half years I was there, compared to the beer when I came home.... well.... there was no comparison. I was thinking you might relate....
Oh, and warm milk...? No huge opinion one way or the other. I'm not a fan, but it has helped me get to asleep now and again......