My almost 3 year old still has a cup of milk when she wakes up :P I don't think they specifically have to stop, it's more about moving on from bottles :)
They don’t need milk at all after one but if they enjoy it there’s no harm in a couple of cups a day. As Bobbie has said it’s important to move on from the bottles though so I’d offer in a cup rather than a bottle x
Our daughter is 4 in September and still has warm milk at bedtime
They need a pint of milk a day until they’re 5 but it’s not all drinking. Dairy products contribute to the pint too
Milk should be given all throughout childhood. After 1 years old, they only need 1 cup a day. Then the advice is to stop bottle at 1 and move onto a sippy cup.