I grew up keeping Cholov Yisroel, my wife did not.
Before we got married my wife chose to accept it upon herself. We decided that we would not force our kids keep Cholov Yisroel and let them decide for themselves when they get older.
This is just our personal opinion but we both agreed that we didn’t want out kids to see friends and family eating something which they are told is forbidden to eat.
We do bring Cholov Stam into the house and our older kids are starting to learn which treats they can and can not share with us.