Growing up we are always told it is healthy to drink milk. They say it strengthens bones and such. Most Americans will know the milk slogan instantly "Milk: It does a body good."
As you would imagine, many of the US habbits are regional. In my family, milk is usually available with hot/cold cereal or in milk/tea. Even then it is usually only at breakfast. The rest of the meals would have juice, coffee, tea, beer or wine.
I drink milk at breakfast because I don't like coffee
Never had a taste for milk, myself. On the other hand, I drink coffee for all three meals.
I'm not quite sure how it became such a staple in a lot of parts, but personally, I love me some milk. It goes great with everything!