I totally agree with you. I am lucky enough to find a goat farm close by that provides goat milk to cheese factories and will sell to the public. His milk goes straight from the goat to a stainless steel refrigerated tank. His goats do graze during the warm months and during the winter when the grass is scarce he feeds them alfalfa hay. And every single goat acts like a big pet, and he has over 200 of them.
I have not make kefir yet, but I do go through a gallon or more a week. Good tasting stuff and, as you said, cow's milk is chalky tasting. I do not even bother with cow's milk anymore.
Sometimes I add some flavored protein powder for the nutrients. I figure the same flavored powder could be added to cover a bad taste. There are many flavors of the powders.