DS1 stopped milk at bedtime & mornings when he stopped BF, so 13.5mo, although he still had milk in a bottle in the middle of the day (at daycare & sometimes at home) until he was about 20mo & DS2 it was also when he stopped BF, so 17mo. From those points on it was dairy from other sources. Both boys would drink milk from a normal cup by 2yo & they loved cheese so they got their dairy needs from cheese, yoghurt & milk on cereal etc. At 2yo they only need 500-600ml of milk or equivalent & so yoghurt is roughly equal & cheese is 20-30g = roughly half a cup.
As a general rule (from what I read when DS1 gave up BF) most toddlers have too much dairy & fill up on it rather than getting too little.