For backyard homesteaders, raising a milk cow is out of the question. They take a lot of room, food and energy to care for. Goats, on the other hand, require very little space, are very low maintenance, and you can even keep a male for breeding without any fear of aggression. For that reason, my family decided to try goats for the first time a few years ago. We are now hooked on goats and would never want to be without them.
Goat milk must be chilled immediately after milking, and proper sanitation procedures must be followed. Basically, be clean and filter the milk into a pitcher to be chilled as soon as you milk it. If this is done, the milk tastes almost identical to cow milk.
Because it is lower in fat, goat milk does not make as creamy a butter, but the benefit to this is that it does not need to be homogenized. The George Mateljan Foundation has written a complete nutritional workup on goat's milk that tells you everything you need to know. If you have been avoiding it because people say it tastes bad, try finding a local farm to provide you with fresh milk and see for yourself the taste you've been missing.