I've been off milk over 2 years now. I love milk and never thought I could live without it, but I'm allergic. My doctor told me that cow's milk is designed to make baby cows gain 850 lbs in 6 months. That did it for me! No more milk.
I use different products for different things. I like rice milk for cereal and for cooking, coconut milk for tea, and coconut cream for recipes that require heavy cream or whipping cream. Rice milk is thinner like non-fat milk, the So Delicious Coconut Milk is a little thicker but slightly sweet, and the coconut milk in the cans is thicker (scoop the cream from the top of the can for making whipped cream).
The Coconut Bliss and Purely Decadent ice creams are so incredibly yummy and are dairy free. If you are only avoiding cow's milk, goat cheese and sheep cheese are very good. Goat milk yogurt and coconut milk yogurt are also good.
If you are drinking the milk straight, make sure it's icy cold and shake it very well before pouring. You just kinda gotta experiment until you find one you like. Sometimes it takes quite a few tries before you get accustomed to the new taste. Just know that it's not real milk, so it doesn't taste like real milk, but it's also not designed for baby cows. ;) You will find something that you like!