Since you miss milking maybe you should consider doing what we do.   We have 4 Jerseys that we leave the calf on and milk for the house and our kids as needed.  

My wife grew up on a dairy farm and missed it so we went to this.  Since you have a few cows anyway, you can just sub one or two for dairy cows.   It gives the benefits of milking without being tied down or having to be there twice a day.